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

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Results and discussion Connection between the forearm and upper arm has two degrees of freedom, realised through a slider and a hinge joint, so-called pin-in-slot joint (see Figure 5.7). 74 Figure 5.7 Exploded view of a one-arm hoeing tool assembly with indicated joints Finally, to the end of the upper arm, a tool for soil cultivation can be connected. As basic cultivation tools small duckfoot knives are anticipated, but several other tools (tines or torsion weeders) can also be easily implemented on the hoeing tool. Variants of the hoeing tool consisting of 4, 6 and 12 arms are illustrated in the Figure 5.8). Figure 5.8 Design variants of the hoeing tool assembly
Results and discussion To demonstrate the ability of the hoeing system for adaptation to different hoeing scenarios, a virtual mechanism of the hoeing tool consisting of 3 sections with a 3-arm hoeing subsystems (fr=front, mi=middle and re=rear) was constructed, like it is shown in Figure 5.9. R LA y x θ δ δ R UA z x Section 3 fr3 mi3 re3 Figure 5.9 Kinematics and design of the rotary hoe y z φ Section 2 Section 1 120° According to the plant intra-row distance, growth stage, soil surface cultivation quality and inter-row weeding method, optimal hoeing width can be calculated and adjusted by changing the lengths of the arms RLA+RUAcosθ and their angular position θ in relation to the plane perpendicular to the rotation axis in which the arm holder is placed (Figure 5.9). Thus, small duckfoot knives (cutting tools) placed on the ends of the arms have sufficient degrees of freedom, which allow the selection of the optimal trajectories in the intra-row and close to crop area. It needs to be emphasised that construction constrains RLA, δ, and number of hoeing arms have been fixed for the set of simulations presented, but they could be also subjects of optimisation. For testing and simulation purposes a virtual sugar beet field was created with a 400 mm distance between the rows and a 200 mm intra-row distance between the plants. 75
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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
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State of the art 20 Figure 2.1 a) F
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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 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
Page 88 and 89: Results and discussion 70 5.1.4 Dis
Page 94 and 95: Results and discussion 76 5.2.1 Opt
Page 96 and 97: Results and discussion xmi1 = ( RLA
Page 98 and 99: Results and discussion With the inv
Page 100 and 101: Results and discussion 82 Horizonta
Page 102 and 103: Results and discussion 84 5.2.4 Sel
Page 104 and 105: Results and discussion 86 5.2.5 Dis
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
Page 114 and 115: Results and discussion 96 5.3.4 Alg
Page 116 and 117: Results and discussion 98 V = zc( t
Page 118 and 119: Results and discussion corresponds
Page 120 and 121: Results and discussion 102 5.3.6 Me
Page 122 and 123: Results and discussion hoeing accur
Page 124 and 125: Results and discussion between the
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
Page 134 and 135: Results and discussion x [mm] Distr
Page 136 and 137: Results and discussion The experime
Page 139 and 140: 6 Summary Summary Neither a mechani
Page 141 and 142: 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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