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

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Results and discussion objects. According to this observation all following experiments were done with a sampling rate set to 5 mm. Distribution [%] Distribution [%] 64 60 50 40 30 20 10 0 40 35 30 25 20 15 10 5 0 5 10 15 20 25 Size of the detected object [mm] 2 4 6 8 10 12 14 16 18 20 22 Size of the detected object [mm] 80 RGB Laser 70 RGB Distribution [%] Distribution [%] 60 50 40 30 20 10 0 60 50 40 30 20 10 0 5 10 15 20 Size of the detected object [mm] 0 0 2 4 6 8 10 12 14 Size of the detected object [mm] Figure 5.4 Dispersion of the impulses generated for every detected object (10 mm wood sticks) a) with RGB sensor sampling distance 5 mm b) with laser sensor sampling distance 5 mm c) with RGB sensor sampling distance 2mm d) with laser sensor sampling distance 2 mm Laser
5.1.3 Results of the robustness test Results and discussion The robustness test showed that there is no significant difference between the estimated size of the plants in the darkness, by daylight and artificial illumination neither for the detection with RGB sensor nor for the detection with laser sensor. Table 5.1 and Table 5.2 contain the mean values of estimated plant sizes from experiments, conducted without change in sensor setting and repeated 10 times for every variation of the illumination intensity and number of allowed FALSE values in the plant pattern. The estimated size can vary from the measured diameter of the plant, but the estimated size stays uniform regardless the illumination intensity change. Tables containing the mean values of the estimated plant sizes for every variation of the illumination intensity and number of allowed FALSE values in the plant pattern with calculated standard deviation of the estimated values for both of sensors are given in appendix (see Table 9.1, Table 9.3, Table 9.5, Table 9.7, Table 9.9 and Table 9.11). More obvious confirmation of the detection system applicability can be observed by analysing the estimated centre positions of the plants. Table 5.3 and Table 5.4 contain the mean values of estimated plant centre positions from experiments, conducted without change in sensor setting and repeated 10 times for every variation of the illumination intensity and number of allowed FALSE values in the plant pattern. Tables containing the mean values of the estimated centre positions for every variation of the illumination intensity and number of allowed FALSE values in the plant pattern with calculated standard deviation of the estimated values for both of sensors are given in appendix (see Table 9.2, Table 9.4, Table 9.6, Table 9.8, Table 9.10 and Table 9.12). The maximum deviation of the estimated centre positions from the plant measured centre positions, detected by RGB sensor, was 31 mm, whereby 50% of the samples were inside the interval 0 to 5 mm and 90% of the samples were inside the interval 0 to 16,9 mm. For the laser sensor, the maximum deviation of the estimated centre positions from the plant measured centre positions was 25 mm, whereby 50% of the samples were inside the interval 0 to 3 mm and 90% of the samples were inside the interval 0 to 6.9 mm. 65
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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
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Introduction limited and environmen
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Introduction than 40 years before g
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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
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
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Page 76 and 77: Results and discussion 58 Figure 5.
Page 84 and 85: Results and discussion Plant positi
Page 86 and 87: Results and discussion Plant positi
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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 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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