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

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Acknowledgements My thanks and appreciation goes to Dan for his proofreading of the work and valuable support that I received while conducting the experiments. I would like to acknowledge the financial support of this project by the German Science Foundation (DFG). I am privileged for having Oliver, Istvan, Olaf and both of my office mates Jiri and Peter, my colleges, who have provided great company during last three years. Thanks to Simone and Daniel for the grill parties and being great volleyball partners. Manny thanks to Miss Frauke Beeken for assisting me to understand and exceed the administrative and German language difficulties. Thanks to the staff of the workshop: Mr Dreesen for helping me during the development of the electronics, Mr Berg for the discussions and introduction of the historical development of the sugar beet cultivating systems, useful contributions of Mr Berchtold and Mr Petriwski at various times during the development of the physical prototype and Mr Dürkop providing technical support during the field experiments. Special thanks to my uncles Georg and Ladislav Lampert and their families for continuous taking care of me, to not suffer in any shortages and let me feel that I am not far away from my family. Thanks to Mr. Karl-Martin Schmidt-Reindl who hosted me during my first month of staying in Bonn. I wish to thank my parents, Katalin and Josip Gobor, for their continuous moral support and encouragement in all my professional endeavours. Finally, I wish to express my gratitude and thanks to my wonderful wife Sara that she postponed her career and provided love, understanding and patience while I ‘played in the lab with the weeder’. I dedicate this thesis to my family
Table of contents Table of contents Glossary of abbreviations and symbols........................................................................ I 1 Introduction .............................................................................................................................. 1 1.1 Consumption of chemicals in agriculture............................................................................ 3 1.1.1 Impact of pesticide application on groundwater sources ............................................ 6 1.2 Organic farming .................................................................................................................. 7 1.3 Weed management............................................................................................................. 9 1.4 Organic weed management.............................................................................................. 10 1.4.1 Indirect weed control ................................................................................................. 11 1.4.2 Direct weed control.................................................................................................... 14 1.4.3 Inter-row weed control............................................................................................... 15 2 State of the art ........................................................................................................................ 19 2.1 Intra-row weed control ...................................................................................................... 19 2.1.1 Passive tools for intra-row weed control.................................................................... 19 2.1.2 Active tools for intra-row weed control ...................................................................... 21 2.2 Detection of the plants ...................................................................................................... 26 3 Definition of the problem and research objectives ............................................................ 29 3.1 Definition of the problem................................................................................................... 29 3.2 Research objectives.......................................................................................................... 31 4 Materials and methods .......................................................................................................... 33 4.1 Detection of the single plant position................................................................................ 33 4.1.1 Sensor equipment ..................................................................................................... 33 4.1.1.1 Digital colour sensor........................................................................................... 33 4.1.1.2 Digital laser sensor............................................................................................. 35 4.1.1.3 Forward position detection................................................................................. 37 4.1.1.4 Position sensor with incremental encoder ......................................................... 37 4.1.1.5 Rotary encoder position sensor ......................................................................... 38 4.1.2 Data acquisition ......................................................................................................... 39 4.1.2.1 Hardware............................................................................................................ 39 4.1.2.2 Software ............................................................................................................. 39 4.1.3 Experimental field ...................................................................................................... 40 4.1.4 Test objects ............................................................................................................... 41 4.1.5 Test of the detection system’s accuracy ................................................................... 41 4.1.6 Test of the detection system’s robustness ................................................................ 41 4.2 The use of integrated mechanism design and simulation in prototype development....... 42 4.2.1 Introduction to prototypes.......................................................................................... 42 4.2.2 Advantages of virtual prototyping .............................................................................. 43 4.2.2.1 Pro/Engineer as a software tool......................................................................... 45 4.3 Physical prototype of the hoeing tool................................................................................ 48 4.3.1 Selection of the drive for the hoeing tool................................................................... 48 4.3.1.1 Electrical servo drive .......................................................................................... 48 4.3.1.2 Power transmission............................................................................................ 51 4.3.1.3 Adjustment of the parameters of the servo drive ............................................... 52
Page 1 and 2: Institut für Landtechnik der Rhein
Page 3 and 4: Development of a novel mechatronic
Page 5 and 6: Kurzfassung Entwicklung eines neuar
Page 7: Acknowledgements Acknowledgements M
Page 11 and 12: Glossary of abbreviations and symbo
Page 13 and 14: Symbol Unit Description Mmmax Nm Ma
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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
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Page 48 and 49: Definition of the problem and resea
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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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