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

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Results and discussion 76 5.2.1 Optimisation of the arm length The maximum and minimum arm lengths was calculated considering the required hoeing depth d and the necessary confidence that duckfoot knives need to achieve a cut under the soil surface cultivating the specified hoeing width. It was estimated that an arm length in the range of 350 - 550 mm, measured from the rotational axis to the cutting edge of the duckfoot knife, offers enough freedom for positioning the trajectory between plants and provides a hoeing width that is wide enough to cultivate the whole area which cannot be reached with inter-row equipment. Depending on the soil surface cultivation quality and roughness, a minimum hoeing depth hdmin needs to be defined, providing the optimal impact and necessary hoeing width on the root system of the weeds with a high level of confidence (see Figure 5.10). On the other hand a maximum hoeing depth hdmax needs to be defined because it influences the soil resistance to hoeing and on that way it also affects the torque on the shaft of the motor. hdmin = hdmax – surface roughness Figure 5.10 Trajectory of the duckfoot knife under the soil surface with minimum and maximum hoeing depth
Results and discussion The Pythagorean theorem (Equation 5.1 and 5.2), was used for calculating a hoeing widths hw1 and hw2. A few characteristic values of the hoeing width are given in Table 5.5. 2 ⎛ hw1⎞ ⎜ ⎟ = R - ( R - ( hdmax - hdmin)) ⎝ 2 ⎠ 2 2 2 ⎛ hw2 ⎞ ⎜ ⎟ = R - ( R - hdmax) ⎝ 2 ⎠ 2 2 Table 5.5 Calculation of hoeing width in dependence on the arm length and hoeing depth For hdmin=15 mm Arm length [mm] 350 450 550 hw2 (hdmax=20 mm) 233 265 294 hw1 (surface roughness =5 mm) 118 134 148 hw2 (hdmax =25 mm) 260 296 328 hw1(surface roughness =10 mm) 166 189 209 hw2 (hdmax =30 mm) 284 323 358 hw1(surface roughness =15 mm) 203 230 255 5.2.2 Examination of influences of the angular position θ to the hoeing trajectories (5.1) (5.2) Kinematical behaviour of the hoe’s virtual prototype was simulated in order to optimise the hoeing process and trajectories of duckfoot knives under the soil surface in the intra-row area. The forward speed of the carrier, the plant growth stage and the arms length and angular position of the duckfoot knives have been varied. For better understanding of the mechanism, kinematical equations of the points presenting the cutting edge of each duckfoot knife in one section are given. 77
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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
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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 92 and 93: Results and discussion Connection b
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
Page 143 and 144: 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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