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

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Results and discussion 58 Figure 5.1 Interpretation of different plants with arrays of TRUE and FALSE signals (Lsen – maximum detecting range of the sensor)
Results and discussion Before the activation of the system, the vertical positions of the RGB fibre optic and laser sensors need to be adjusted in order to cover as many plants as possible with their detecting range. RGB sensor reacquires an additional calibration of the target colour typical for the crop plant and its growing stage. If the plants’ colour palette includes wider spectral range, the sensitivity of the RGB sensor to certain colour can be increased. After the adjustment has been done the system needs to be positioned to the initial position which is actually the first plant in one row. At this point the system is ready for the plant centre position detection. After the start, the algorithm waits until the linear position reaches the first/next value equal to the multiplier of the sampling distance which is a triggering signal for the execution of the next step. If the linear position is located inside the searching area it is necessary to calculate the indexing counter value which is used for building an array with the date containing information about the position and sensor values (TRUE/FALSE). This subroutine repeats until the index reaches the value of the array length equal to the quotient of searching area size and sampling distance. In that moment building of the array is completed and the middle position of the data pattern can be calculated. Middle position calculator returns the linear position value corresponding to the middle position of the plant and the time stamp when the plant detection sensor has acquired this value. The flow chart of the algorithm for the plant centre position detection is illustrated in Figure 5.2. 59
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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
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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
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Page 63 and 64: Materials and methods environments
Page 65 and 66: Materials and methods dimensions ne
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Page 69 and 70: Materials and methods A command sig
Page 71 and 72: Materials and methods The drive con
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Page 78 and 79: Results and discussion 60 Figure 5.
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Page 84 and 85: Results and discussion Plant positi
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Page 102 and 103: Results and discussion 84 5.2.4 Sel
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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
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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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