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Autonomous weeders for Christmas tree plantations - a feasibility study

Contents

Preface
   
Sammenfatning
   
Summary
   
1 Introduction
   
2 The economic significance of Christmas tree production
2.1 Structure
2.2 Export
2.3 Economics
   
3 Current cultivation methods
3.1 Establishment
3.2 Weed control methods
3.2.1 Chemical
3.2.2 Mechanical
3.2.2.1 Conditions for mechanical weeding
3.2.2.2 Tools for mechanical weeding
3.2.3 Animals
3.3 Harvesting
3.4 Contractors and contractor costs
3.5 Costs of the various operations
   
4 Weed control requirements in Christmas tree Production
4.1 Method
4.2 Results
4.2.1 The average height of the trees.
4.2.2 Root collar diameter of the trees
4.2.3 Health score of the living trees.
4.2.4 Soil moisture
4.2.4.1 Tønballegård
4.2.4.2 Wedellsborg
4.3 Other investigations
4.4 Discussion
4.5 Sub conclusion
   
5 Specification of stakeholder requirements
5.1 The current level of satisfaction with spraying and mechanical weeding technology
5.2 Stakeholder requirements to an ACW
5.3 Sub conclusion
   
6 Specification of technical requirements for an autonomous Christmas tree weeder
6.1 Overview of cultivation methodology
6.2 Definition of operation scenarios for the ACW development
6.3 Definition of work tasks
6.4 Sub conclusion
   
7 Autonomous vehicle technology – a literature review
7.1 Automatic and autonomous vehicles in agriculture, forestry and horticulture
7.2 Evolution of automatic steering for agricultural vehicle
7.3 Sensors for navigation
7.3.1 Real time Kinematic global position system
7.3.2 Computer vision
7.3.3 Supplementary sensors
7.3.4 The leader-cable principle
7.3.5 Laser-based principles
7.3.6 Other principles
7.4 Safety
7.5 Systems Architecture
7.5.1 Three-layer architecture
7.5.2 The Saphira architecture
7.5.3 The animate agent architecture
7.5.4 Behavioural reactive system architecture
7.6 Sub conclusion
   
8 Proposed outline of an autonomous Christmas tree weeder
8.1 Weeder tool
8.2 Optimum operation pattern and vehicle positioning
8.3 Vehicle concepts
8.3.1 The beetle type
8.3.2 The portal type
8.4 Vehicle operation procedure and transport
8.5 System architecture
8.6 Sub conclusion
   
9 Estimated performance of selected robot concepts
9.1 Environmental benefits
9.2 Effectiveness of weed control
9.3 Machine caused losses
9.4 Safety
9.5 Estimated area capacity
9.6 Estimated costs
9.7 Added values
9.10 Sub conclusions
   
10 Conclusions
   
11 References
   
Bilag A: A specification of behavioural requirements for an autonomous tractor
   
Bilag B: Proposed Systems architecture
   
Bilag C: General motivation of using autonomous vehicle systems.