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

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Results and discussion 70 5.1.4 Discussion of the plant centre position detection methodology As mentioned before, the presented methodology for detection of the plant centre position is an interim solution based on a simplified system using spectral and typical geometrical characteristics of plants combined with the context information of the planting pattern. The main shortage of the presented system is that sensors require ad-hoc parameter adjustment before the measurement to provide good plant detection. For broad usage of a system, parameter adjustments need to be replaced by a more systematic method. The sensors utilised during the tests are intended for industrial detection. It needs to be confirmed that intensive application in hard field conditions will not cause negative influence on their stable work. The digital RGB fibre optic sensor CZ-H35S uses a light emitter with a spot diameter of 4.5 mm. For reliable detection the detection system needs to be improved to cover an area at least as wide as the laser sensor. This could be done by parallel implementation of several sensors but in that case the solution will be more expensive. Although the system has shortages the experimental results showed that the combination of the RGB sensor and laser sensor can be used for accurate detection of the plant centre position independently from illumination conditions.
5.2 Virtual prototype of the rotary hoe for intra-row weeding Results and discussion The design of uncommon systems such as the rotary hoeing tool entails a lot of trials and contains many errors, which need to be fixed before the first real prototype can be built. The optimisation of the hoeing tool design was done with Pro/Mechanca, which allows simulation of the trajectories, accelerations, velocities and forces acting with the prototype. A variety of objects can be assembled together to resemble more closely the real conditions, including springs, motors, friction, and gravity. All the input variables such as speed and initial position can be altered at any time, providing testing and analysis flexibility. Constraints can also be placed on the prototype’s range of motion to more closely emulate a physical prototype. During a simulation, the motion behaviour of the parts of the prototype can be activated at different positions in the time domain, because their movement corresponds to a particular motion controller known as motor. Motors can be independently programmed to start and end at any point in the simulation, so if only certain parts of the assembly are of interest for a certain simulation, all the other parts can be simply turned off and left idle. Taking into account demands and constrains, a virtual prototype of the rotary hoeing tool for intra-row weed control was designed. Several concepts were brainstormed and the idea of the system emulating the manual hoeing motions under the soil surface was chosen. The hoeing tool consists of an arm carrier and three or more integrated arms rotating around a horizontal axis above the crop row. The axis is attached to the motor shaft whose rotational speed is calculated and tuned according to the forward speed of the carrier vehicle, the intra-row distance between plants and the observed position of the arms. The working height of the whole assembly is adjustable in accordance to keep the hoeing depth within optimal limits, which should be between 10 mm and 30 mm. The concept of the rotary hoeing tool for intra-row weeding is presented in Figure 5.5. 71
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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
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Introduction Sowing and planting al
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Introduction Inter-row weeding syst
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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
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
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Page 108 and 109: Results and discussion Since the fi
Page 110 and 111: Results and discussion To avoid con
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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
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Page 136 and 137: 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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