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Manual
Version 6.4 (Draft)
Disclaimer
Considerable effort has gone into making Robocrop reliable under
normal commercial conditions. However, it is possible that under some
adverse circumstances the guidance system will be unable to operate
reliably. It is the operator's responsibility at all times to ensure that the
machine is operating in a satisfactory manner. Should excessive crop
damage occur operation should cease and if necessary, your Garford
dealer should be contacted for advice.
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Table of Contents
Related Manuals for Garford Robocrop
Summary of Contents for Garford Robocrop
- Page 1 Manual Version 6.4 (Draft) Disclaimer Considerable effort has gone into making Robocrop reliable under normal commercial conditions. However, it is possible that under some adverse circumstances the guidance system will be unable to operate reliably. It is the operator’s responsibility at all times to ensure that the machine is operating in a satisfactory manner.
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Page 2: Table Of Contents
Flow Charts…………………………………………………………... 27 Copyright notice The computer vision guidance and control software and the associated configuration tool on all Robocrop systems are copyright Tillett and Hague Technology Ltd. This product also makes use of public domain operating system code. Under... -
Page 3: Preface
Robocrop uses a colour camera to pick out green crop and weed from backgrounds containing soil, stones and trash. (Consult your Garford dealer for systems to work in red crops.) Robocrop locates crop rows within a scene by matching a template corresponding to the known planting pattern with crop rows as they appear in the camera image. -
Page 4: Safety
2. Safety 1. When carrying out repairs or adjustments to a side shift, steering discs or implement, ensure that the Robocrop system is switched off and also that the hydraulic supply is off. Be aware that spurious speed signals can be generated potentially causing the side shift/steering discs to move unexpectedly. -
Page 5: Assembly
3. Assembly The following steps outline how the Robocrop precision guided implement should be set up. Step 1 - Mounting the console Mount the console in the tractor cab in a position where it can be clearly seen, but does not obscure operator's visibility. -
Page 6: Step 7 - Connecting The Power Supply
Step 7 – Connecting the power supply The 12V power supply cable running from the implement module should be connected directly to the tractor battery or via purpose designed power sockets. Cigarette lighter sockets are not suitable. Caution • Route the cable carefully ensuring that it cannot become trapped or chaffed. •... -
Page 7: Start Up And Working Screen
4. Start up and working screen Turn the system on by pressing the console button for about a second until the button is illuminated. After some PC start up text the user is presented with a start-up screen offering the choice between starting the guidance system, going directly to the set up screen, opening the service menu or shutting down. - Page 8 • A green dot and red/green chevrons below the image indicate side shift position. A red chevron with a vertical bar indicates the limit of travel has been reached. This should not be allowed to occur for extended periods. • The fine offset gauge shows the amount of left or right bias set by the user.
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Page 9: Getting To Work In The Field
For the first few hundred meters of running after commissioning Robocrop learns a term known as camera skew (see section 7.3) Camera skew compensates for minor errors in camera orientation in the horizontal plane. - Page 10 wider than the real crop rows check the “crop However, if the green lines appear narrower or size” selected in the “set up” screen and change if appropriate. If this does not resolve the problem, it may be that the camera height (measured from centre of lens to ground level) does not match the figure displayed in the “set up”...
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Page 11: Step 3 - Initial Running And Adjusting Camera Lateral Position
If fine offset is set to the left, then the camera should be moved right as viewed from behind looking forward. Once you are confident that Robocrop is tracking accurately and reliably forward speed can be increased. Working speeds up to 12 kph can be accommodated with Robocrop, however the mechanical interaction of shares and shields on the soil and its effect upon plants will determine if this is achievable. -
Page 12: Notes On Operation With A Correctly Set Up Machine
• Proceed with caution for first few meters checking that Robocrop’s speed gauge matches the tractors and that implement alignment is good. If performance is satisfactory speed can be increased. Robocrop’s tracking should be satisfactory up to 12kph, though soil movement considerations may dictate a lower operating speed. -
Page 13: Information Screens And Menus
7. Information screens and menus Robocrop has a graphical working screen that conveys all the information necessary for normal operation. A description of this screen is given in section 4. A series of six touch screen buttons along the right of the display allow operators to access user controls such as fine offset and manual control of side shift/steered discs. -
Page 14: Advanced Set Up & Diagnostics Menu
Camera skew is a measure of camera angular misalignment in the horizontal plane. This angle is estimated by Robocrop’s computer programme during field operations. Rate of change is highest during initial runs and after resetting to zero. It stabilizes after approximately 100m of running. - Page 15 Camera offset is the lateral error between two or more cameras fitted to the same section. Like skew it is estimated by Robocrop’s computer programme during field operations. Rate of change of this estimated displacement is highest during initial runs and after resetting to zero. It stabilizes after running approximately 100m.
- Page 16 Audible Warnings When selected “Yes” a buzzer inside the console sound when warning symbols such as the poor tracking symbol appear on the working screen. The default is “Yes”. Auto select feelers (only shown with mechanical crop guidance feelers fitted) When selected “Yes”...
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Page 17: Configuration File Editor
Users are required to enter a PIN to prevent accidental entry to the editor. The default is 1,2,3,4. Less experienced users are advised to contact their Garford dealer who can supply them with customised configuration files. - Page 18 on one of the list either pops up an appropriate keyboard (Letters for editing name, numeric for entering numbers) or presents another lower level list of parameters to select from. To remove the keyboard from the screen, press it’s return key. In editing mode three buttons are present at the bottom right of the screen: The top button marked with a spanner and two “+”...
- Page 19 Section settings A section is defined as a frame that has independent steering. Most implements will have only one section. However, it is possible to have an implement with multiple independently steered sections. This is useful when it is required to span multiple drill/transplanter bouts. The settings are;...
- Page 20 The next settings relate to what is seen in the image. The number of, and spacing between rows. The number of rows entered here determines how many rows are used to construct the template. Spacing between rows is normally uniform across the field of view and is therefore a single figure. However, some crop geometries with a number of different row spacings in the same scene require a more complex arrangement.
- Page 21 Configuration file “Camera” standard editor screen Tip Context sensitive help is available within the configuration editor by pressing the key with the cursor on the relevant title. Additional settings available from the advanced editor Under normal circumstances it should not be necessary to alter any of the additional parameters listed in the advanced editor.
- Page 22 Additional section settings This version of the screen allows users of side shifted machines to alter the value of potentiometer reading that is defined as central (normally 2048). Disc steered machine users can alter linear slide potentiometer parameters used for the working screen light bar as well as the rotary steering potentiometer.
- Page 23 Optional Features These allow users extra facilities. The first allows users to select crop colour choices other than the standard green via the setup screen. As a refinement that choice can be offered per camera. To reduce complexity, we recommend not enabling any more colour choices than are essential for good performance.
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Page 24: Maintenance And Storage
8. Maintenance and Storage Please follow the maintenance and storage instructions below in order to ensure your Robocrop precision guided implement stays in first class working order 1. There are no lubrication points on the side shift. 2. Check that dirt does not build up on the side shift rails and rollers and clean if necessary. -
Page 25: Troubleshooting
10. Trouble shooting LED Blink codes As an aid to fault finding most system components are fitted with LEDs whose mode of illumination can provide information on system status and any error conditions. Console front panel button LED Under normal conditions with 12V power connected via the implement module, but with the console switched off the front panel LED gives a very brief single blink at 5 second intervals. -
Page 26: Console Fault Codes
Console fault codes (displayed in error messages and the error log) These numeric fault codes can provide more specific information that the written description displayed on the screen. Make a note of these codes when reporting errors. cttnn c=class, tt= 2 digit type, nn= channel/index 0xxxx internal error codes 00100 state/covariance dimension error 00200 variance sign error... -
Page 27: Flow Charts
Flow Charts Problems have been divided into three categories listed below. Please consult your Garford dealer for any other problems. 1. Console fails to start up correctly 2. Console shows a working screen but the side shift/steered discs do not respond 3. - Page 28 Does the manual shift work OK? Check that the implement lift sensor is operating correctly. It may be out of adjustment or its cable damaged Does Robocrop’s speed Run the steering test function from indicator show a similar the advanced value to the tractors and diagnostics menu.
- Page 29 Does the side shift pull off to full stroke editor or consult almost immediately on moving forward? your dealer Clean lens Does Robocrop’s speed indicator Has the camera been Both potentiometer register a value similar to that of the changed or disturbed?
- Page 30 Garford Farm Machinery Frognall, Deeping St James, Peterborough. PE6 8RR England Tel. 01778 342642. Fax. 01778 348949 Email – info@garford.com...