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

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Results and discussion With the invariable setting of the arm lengths and with an angular adjustment of the front and rear duckfoot knives in all sections (Figure 5.13), the equal intra- row area covering can be realised, like with the system without angular adjustment (Figure 5.12). Another very important aspect of the forward- backward rearrangement is the relative position of the arm, working in the close-to-crop area. In the first case with the system without angular adjustment (Figure 5.12) arms are always perpendicular to the soil surface. In the rearranged system, arms cultivating the close-to-crop area always have an obtuse angle in relation to the soil surface, which means that they are shifted from the plant. That allows cultivation of plants with bigger leaves as well as cultivation closer to the plant without causing damage on the leaf system (Figure 5.13). 80 Horizontal position (x) [mm] Vertical position (y) [mm] 600 400 200 0 -200 -400 100 200 300 400 500 600 700 Travelled distance (z) [mm] 50 0 re3 fr1 fr2 + mi1 + mi2 + re1 + + -50 100 re3 200 fr1 mi1 300 re1 400 fr2 mi2 500 re2 600 fr3 mi3 700 Travelled distance (z) [mm] Figure 5.12 Hoeing trajectories of the hoeing tool with nine arms in a field with 200 mm intra-row distance between plants (arm length 520 mm, angular position of all arms adjusted to 0°, � - position of the plant) re2 + fr3 mi3
Horizontal position (x) [mm] Vertical position (y) [mm] 600 400 200 0 -200 -400 Results and discussion 100 200 300 400 500 600 700 Travelled distance (z) [mm] 50 0 mi3 re3 + fr3 re1 mi1 fr1 + + + + -50 mi3 100 200 re1 mi1 300 fr1 400 re2 mi2 500 fr2 600 mi3 700 Travelled distance (z) [mm] Figure 5.13 Hoeing trajectories of the hoeing tool with nine arms in a field with 200 mm intra-row distance between plants (arm length 520 mm, angular position of all arms adjusted to fr= 17°, mi= 0°, re= –17°, � - position of the plant) Another nine-arm hoeing scenario with shorter arm lengths (440 mm) and angular position θ adjusted to 17°, 0°, –17° is introduced in Figure 5.14. The segments of the trajectories under the soil surface are highlighted and the expected crop positions are x=200 mm, 400 mm, 600 mm; y=0. In this case arms are again shifted from the plant by the forward-backward rearrangement and the distances between consecutive cuts of every section are much closer to one another. Thus, the protected area around the crop plant is much bigger in relation to the hoeing scenario described in Figures 5.12 and 5.13. With this adjustment variation the applicability of the rotary hoe to different crop systems and growth stages can be easily demonstrated. re2 mi2 fr2 + mi3 81
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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
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State of the art 26 2.2 Detection o
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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 94 and 95: Results and discussion 76 5.2.1 Opt
Page 96 and 97: Results and discussion xmi1 = ( RLA
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
Page 145 and 146: 8 References References Agrios, G.
Page 147 and 148: 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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