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Summary of Contents for ComNav Technology SinoGNSS AG502
- Page 1 User Guide - AG502 GNSS Automated Steering System for Precision Agriculture AG502 User Guide ...
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Page 2: Table Of Contents
User Guide - AG502 Contents 1 Instructions For Product Use .......................... 1 2 Product Overview .............................. 3 2.1 System Components ........................... 3 2.2 Software registration ............................. 6 2.3 Interface Icons ............................... 7 3 Workflow ................................ 11 3.1 RTK Configuration ............................ 11 3.2 Create an vehicle ............................ 13 3.3 Parameter calibration .......................... 17 3.4 Create a new task ............................ 21 3.5 Start automatic steering .......................... 24 3.6 Error adjustment during driving ...................... 27 4 Basic function .............................. 30 4.1 Vehicle management ........................... 30 4.1.1 Vehicles ............................ 30 4.1.2 Implement .......................... 32 4.2 Satellite Positioning ............................. 34 4.3 Autosteer Parameter calibration ......................... 37 4.3.1 Heading calibration ........................... 38 4.3.2 Adjacent line of implement ...................... 39 4.4 ... -
Page 3: Instructions For Product Use
User Guide - AG502 1 Instructions For Product Use Please read the following precautions carefully before using this product: a) Please read the following precautions carefully before using this product: b) During the outdoor use of the base station equipment, Long term waterproof treatment shall be done for the base station host. During the use or test, the base station antenna must be placed in the open environment, and there are no tall buildings or trees within 20 meters around. c) Do not disassemble the antenna of the base station or plug and unplug the serial port cable and other cables when the power is turned on. d) Please connect your equipment in strict accordance with the requirements in the manual. For the 7-pin data cable and other cables, it is necessary to hold the root of the plug and gently insert and pull it. It is not allowed to drag or rotate it, otherwise it may cause pin breakage. e) When supplying power to the system, please pay attention to the power supply requirements of the equipment (The allowable voltage range is 9-29V. The voltage that can be used normally and has no problem is 14V or 24V). f) The base external radio may generate high temperature during use. Please be careful not to burn. In addition, covers on the surface of the external radio must be avoided or reduced to enable good heat dissipation. ... - Page 4 User Guide - AG502 j) Equipment damage due to force majeure (lightning strike, high voltage, collision) does not belong to the scope of free maintenance of ComNav. k) Please do not disassemble this product by yourself, otherwise it will not be warranted. l) Comnav shall not be responsible for the problems caused by man-made operation during automatic driving (such as people leaving the cab during driving, vehicle problems during normal automatic driving, etc.). ...
- Page 5 User Guide - AG502 2 Product Overview 2.1 System Components Figures Name Account P300 plus Tablet 1 AT360 GNSS antenna 2 Motor 1 Steering Wheel 1 Antenna Holder 3 3 ...
- Page 6 User Guide - AG502 Hall Angle Sensor 1 Front Wheel Angle Sensor 1 Tablet Holder 1 UHF Antenna 1 Motor Holder 1 4 ...
- Page 7 User Guide - AG502 GNSS Pole Subplate 2 Power Cable 1 GNSS antenna cable 1 Sucker antenna(UHF) 1 4G antenna 1 5 ...
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Page 8: Software Registration
User Guide - AG502 Screw Suit 1 2.2 Software registration Software will be registered as required when it installed in controller. If the registration is expired or reinstall the software, a registration prompt will pop up. You need to contact us to get the registration code. You can click the Menu button, select the System, and then you will see the software registration, as shown in the below picture. ... -
Page 9: Interface Icons
User Guide - AG502 If you want to register, you need to connect the GNSS antenna first. When the receiver has successfully received the GNSS data, the unregistered device will have a pop-up window prompting to register. 2.3 Interface Icons The main interface of normal work is shown in the figure below. 7 ... - Page 10 User Guide - AG502 The meanings of the icon are shown as the table below. Name Icon Meaning Remarks Provide basic information such as task type, task name, Software Basic running task area, current line running / information number, driving status, information heading angle for users to use. 8 ...
- Page 11 User Guide - AG502 screen brightness day, night Camera / Number of satellites locked Positioning mark / by the left antenna Positioning Click here can information Base mark Work mode and Diff age enter its configuration Not connected Motor Connected Wheel angle Not connected sensor Connected Device / information Not connected Body angle ...
- Page 12 User Guide - AG502 Speed / Menu settings Create new task / Nudge / Parameter / adjustment Other Turn around / Remote / Software Track Manual / Finish task / Exit / 10 ...
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Page 13: Workflow
User Guide - AG502 3 Workflow 3.1 RTK Configuration We currently provide two methods to get correction data: Internal radio and CORS. Click Meau > Positioning (1) Click Internal radio to configure radio information and get a fixed solution. Choose the correct channel to receive the correction data from base station. 11 ... - Page 14 User Guide - AG502 (2) Click CORS to configure IP, port, source list, username and password. Use SIM card or WIFI , and then click Get Source List. After that, you can get the cors station ,choose a stable mount point ,then click Start . Check if get a fixed solution. 12 ...
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Page 15: Create An Vehicle
User Guide - AG502 3.2 Create an vehicle 1) Create vehicles Click Meau> Vehicle management, choose Edit guide on the left and start editing the model of agricultural machinery. Create user information. 13 ... - Page 16 User Guide - AG502 Create antenna and body information. 14 ...
- Page 17 User Guide - AG502 After editing, click Next, return to the interface ,and click OK “Install the front wheel angle sensor”（optional） Please choose whether to install the front wheel angle transmission according to the vehicle type and personal ideas. For some vehicles, it is the rear wheels that control the rotation of the vehicle, so it is not possible to install the front wheel angle sensor. The cable will affect the driving of the vehicle, and the driving speed is lower than 10km, so it is not necessary to install the front wheel angle sensor 2) Create an implement Click MEAU > Vehicle , choose Implement. 15 ...
- Page 18 User Guide - AG502 Click Create button, and follow the prompts to enter the information. After finishing creation, select the implement you want to use, click Apply button, and the implement information turns green to indicate that the application is successful. 16 ...
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Page 19: Parameter Calibration
User Guide - AG502 3.3 Parameter calibration After creating the agricultural tools, return to the operation interface, click Calibration, and four calibration steps will appear. Follow the instructions in turn 17 ... - Page 20 User Guide - AG502 1 Rate Gyro calibration Front Wheel Please keep the vehicle stationary, make sure the sensor is installed where the wheel can swing with the wheel observe its change value. The absolute value should not exceed 0.15. If it exceeds the limit, click the Gyro calibration button。 Body Please keep the vehicle at standstill, ensure that the end with the wire points to the front of the tractor, observe its change value. The absolute value should not exceed 0.15. If it exceeds the limit, click the Gyro calibration button 2 Adjust parameters adaptively Please start the vehicle and turn the steering wheel so that the wheel is facing forward. Click Start Tuning and drive the vehicle at a speed greater than 2 km/h(Note: do not touch the steering wheel). The screen prompts you to stop. ...
- Page 21 User Guide - AG502 (If you do not install the front wheel angle sensor, you need to manually enter the calibration value) 3 Attitude adjust（optional） 1)On a flat field, adjust tractor and all wheels straight to front manually, and click First collect , then drive forward about 15m to form a track line 0 2)Turn around and still run the tractor on the tractor manually, then start auto steering reaching to point A, click Second collect This is to collect the attitude angle of the vehicle when moving forward. 19 ...
- Page 22 User Guide - AG502 4 Auto Heading Calibration Before heading calibration begins, please move the vehicle to an open area(open and barrier-free ahead), Keep the vehicle run in a straight line. After clicking the Start Heading calibration button, please increase the vehicle speed to 2 km/h. This is to adjust the correct position information of the antenna. 20 ...
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Page 23: Create A New Task
User Guide - AG502 3.4 Create a new task 1) Create a new task Drive the tractor to the starting point (beginning of the field), choose a good location and stop, click Create button , then enter the task name, working type, and working method. If they are correct, click Create button in the lower right corner. 21 ... - Page 24 User Guide - AG502 There are seven ways of operation, namely: Straight line, Automatic U-turn, Curve, A+ course, Diagonal, Free track, Concentric circle. For details, please refer to 4.6.2 2）Survey point A and point B 22 ...
- Page 25 User Guide - AG502 Click A button to survey point A. Hold the steering wheel to drive tractor to the other end of the field, choose the location and stop, click B button, and the AB line will be confirmed. (The distance between point A and point B is at least 10 m) 23 ...
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Page 26: Start Automatic Steering
User Guide - AG502 3.5 Start automatic steering The prerequisite for enabling automatic driving is that the equipment is connected correctly, the RTK configuration is complete, information of vehicle, implement, field and task are complete. Click Start button to turn on the automatic driving. 24 ... - Page 27 User Guide - AG502 Click Stop button in the lower right corner to exit autopilot. There is also a delay in exiting autopilot. This button changes from gray to blue for about 2 seconds. But when the button is clicked, the motor will be released immediately and the steering wheel can be controlled manually. 25 ...
- Page 28 User Guide - AG502 It is worth noting that when you do not exit the automatic driving state, the agricultural machinery will automatically get the following turning direction according to the first turning direction, that is, automatic turning . Each time you stop automatic driving, the U-turn around option will appear in the lower left corner. You can select the turning direction for the next driving as required. 26 ...
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Page 29: Error Adjustment During Driving
User Guide - AG502 3.6 Error adjustment during driving Manual heading calibration Operate after automatic heading calibration. When the following situations occur during operation, you need to manually enter an error value: The lateral deviation value of the main interface gradually increases and reaches a maximum value and suddenly returns to 0. At this time, we need to input the maximum value before it returns to zero, and the software will 27 ... - Page 30 User Guide - AG502 automatically calculate the zero position of the heading angle and correct it. Adjacent line of error adjustment Back to main page, drive 3 automatic straight lines adjacently(Turns are manual).Record the distance of spacing S1,S2,and input the desired spacing value in below. Press ” OK ”, system will automatically calculate the offset and save. Repeat step before , until the spacing meeting target. S1, S2 is the actual measured value, Desired distance is your expected value. Input them , and click “ ok” , it will automatically calculate the later correction value. 28 ...
- Page 31 User Guide - AG502 At this time, the parameters in the farm tool settings also change accordingly. Click Apply. After calibration, formal operation can be started 29 ...
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Page 32: Basic Function
User Guide - AG502 4 Basic function 4.1 Vehicle management 4.1.1 Vehicles Click Meau> Vehicle management, choose Edit guide on the left or Edit and start editing the model of agricultural machinery. “Get”: The previously set Vehicles parameters will be saved in HUB. Click Get to get the previous configuration “Edit”: Click Edit to modify Vehicles parameters directly in the current interface without resetting Create user information. 30 ... - Page 33 User Guide - AG502 Create antenna and body information. “Height of antenna from ground”: Vertical distance from antenna to ground. “Left antenna offset to the tractor central axle”: Half the horizontal distance between two antennas(The left and right distance should be equal, the fixed value is 0.75m, and the center should coincide with the center of agricultural machinery) ...
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Page 34: Implement
User Guide - AG502 “Distance from antenna to real wheel”: Horizontal distance from antenna to rear wheel center “Tractor wheelbase”: Horizontal distance from front wheel axle center to rear wheel center of gravity “Front wheel spacing of tractor”: Distance between two front wheels “Install the front wheel angel sensor”: Select “Yes” After editing, click Next, return to the interface ,and click OK 4.1.2 Implement After creating vehicle, you need to create implement. Click MEAU > Vehicle , choose Implement. 32 ... - Page 35 User Guide - AG502 Click Create button, and follow the prompts to enter the information. “Width(A+B)”: (A)Agricultural implement + (B)Adjacent line “Distance(C)”: Horizontal distance from rear wheel center to agricultural tool “Offset(D)”: Offset distance from the center of agricultural implements to the central axis of the vehicle 33 ...
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Page 36: Satellite Positioning
User Guide - AG502 After finishing creation, select the implement you want to use, click Apply button, and the implement information turns green to indicate that the application is successful. 4.2 Satellite Positioning Click Manual > Positioning 34 ... - Page 37 User Guide - AG502 (1) Click Satellite Positioning to check satellite positioning status. (2) Click Internal radio to configure radio information and get a fixed solution. Choose the correct channel and protocol. Then click setting >read to receive the correction data from base station. 35 ...
- Page 38 User Guide - AG502 (3) Click CORS to configure IP, port, source list, username and password. Use SIM card and then click Get Source List. After that, you can get the CORS station , choose a stable mount point ,then click Open . Check if get a fixed solution. (4) Click Raw data to check the message from board. 36 ...
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Page 39: Autosteer Parameter Calibration
User Guide - AG502 (5) Click Board data to check the NMEA. (6) Click Satellite information to check the star sky、signals quality 4.3 Autosteer Parameter calibration Due to the antenna installation error, the installation error of the body angle sensor, and the matching of agricultural implement mounting. In order to ensure the effect of automatic driving, calibration is required before automatic driving, including two calibrations, heading calibration and adjacent line of implement. The adjacent line of implement needs to mount the implement for calibration. This calibration work can be performed before the actual operation, and the calibration ... -
Page 40: Heading Calibration
User Guide - AG502 4.3.1 Heading calibration The heading calibration is mainly to calibrate the installation error of the dual antennas to ensure that the heading angle output by the dual antennas is consistent with the true heading angle of the vehicle. Turn on automatic driving on a flat concrete road. The speed is not less than 6 km/h. The length of the road is not less than 30 m. The heading calibration interface is shown in the figure below. Please read the calibration procedure and method carefully. Click Menu> Autosteer>Heading calibration Return to the main interface and start automatic driving. You need to observe the lateral offset displayed on the main interface, and the observation time should be longer than 30s. Then stop the automatic driving, and manually estimate the average value of the lateral offset during this period of time. Fill in the left or right distance in the heading calibration interface, and click OK. Turn on the automatic ... -
Page 41: Adjacent Line Of Implement
User Guide - AG502 is basically the same. If it is only to the left or to the right, heading calibration is required. The heading calibration diagram is as follows. 4.3.2 Adjacent line of implement Click Menu> Autosteer>Adjacent line of Before the formal operation, the implement must be mounted. After the implement is mounted, the adjacent lines generated by the actual operations need to be tested and calibrated to ensure that the sizes of the adjacent lines are same and meet the actual operation requirements. The calibration interface of adjacent line is shown in the figure below. Please read the calibration procedure and method carefully. 39 ... - Page 42 User Guide - AG502 Return to the main interface to start automatic driving, which needs to be tested in farmland. Select three adjacent roads for automatic driving, record the number of adjacent lines generated after implement operation, fill in the required parameters, and click OK to complete the calibration. The adjacent line of implement diagram is as follows. (Tip: After the same tractor is successfully calibrated, there is no need to do attitude calibration, heading calibration and antenna alignment again. The calibration of the implement adjacent line only needs to be calibrated after the implement is replaced. It is recommended to calibrate in the field.) 40 ...
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Page 43: System Settings
User Guide - AG502 4.4 System Settings 4.4.1 General settings (1) Click Software registration, you can check the current registration status. If the registration code expires or is about to expire, you can contact us to get a new registration code. 41 ... - Page 44 User Guide - AG502 (2) Click Language, we currently provide Chinese, English, Turkish, Russian, Spanish, Bulgarian, Greek, French ,etc. (3) Click Units, you can select the unit of work area. we currently provide Mu, Ha, Acre, m². 42 ...
- Page 45 User Guide - AG502 (4) The “Sino Remote control software” is our software that help you check the device remotely by comnav technical support. Don’ t forget to connect Network 43 ...
- Page 46 User Guide - AG502 (5) Click General settings, the warning tone and steering wheel prompt can be turned on and off, Usually we configure it as the picture 44 ...
- Page 47 User Guide - AG502 (6) Click About us, you can check current version of software and our website address. 45 ...
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Page 48: Hardware
User Guide - AG502 4.4.2 Hardware Click Menu> system>Hardware Hardware is mostly used for reference, no operation (1) Click Motor, you can check whether the communication of the motor is normal through Motor enable, Motor disable and Angle Setting. (Usually, this function is only used for maintenance and inspection. Users don't need to pay attention to it) 46 ... - Page 49 User Guide - AG502 (2) Click Firmware, you can check and upgrade the current firmware. 47 ...
- Page 50 User Guide - AG502 (3) Click Receiver, you can check the SNR score and baseline. Also set up PPP with B2B or HAS, if you have upgrade your board version to a special one 48 ...
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Page 51: Parameter Settings
User Guide - AG502 4.5 Parameter Settings In the main interface, there is a param button. After you finish the calibration, if you are not satisfied with the result of wheel ‘s speed, you can manually adjust it 49 ... - Page 52 User Guide - AG502 1) Basic parameter After the adaptive parameter adjustment, the rough fit value will be automatically obtained. Also can manually adjust them. “Forward steering sensitivity”: How fast or slow the steering wheel turns when the vehicle is moving forward, value(0,+) .The smaller the value, the lower the steering sensitivity of the steering wheel, and the higher the reverse . Usually about 30. “Forward steering compensation”: Control the degree of steering wheel alignment to prevent the impact of steering wheel automatic steering inertia on ...
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Page 53: Farm And Task
User Guide - AG502 4.6Farm and Task 4.6.1 Farm fields Click Token to get the information of farm fields 51 ... - Page 54 User Guide - AG502 The task you created will be saved to the device, and you can use the previously created task. 52 ...
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Page 55: Task
User Guide - AG502 4.6.2 Task There are five ways of operation, namely: Straight line, Automatic U-turn, Curve, Isometric Curve, A+ course. 1) Straight line For straight line operation, only two points (A and B) need to be taken to determine the operation line. After confirming the operation line, start working, select the direction of the first turn, and then automatically adjust the direction of the turn and make the automatic turn. 2) Automatic U-turn For automatic turning operation, 4 points(A,B,C,D) need to be determined in sequence. - Page 56 User Guide - AG502 4）A+ course For the A+ course, after determining the point A, you need to enter an angle, which is the included angle with due north. After input, the agricultural machinery will move forward infinitely according to this angle and cannot turn around automatically. 5) Diagonal Rake Seldom use it 6) Free track Customize line 7) Concentric circle For concentric circle, after you collecting the point A, you need to enter a radius, then you can get multiple circular trajectories. 54 ...
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Page 57: Repair And Maintenance
User Guide - AG502 5 Repair and Maintenance Display It is better not to film the display (which may cause the touch screen to be insensitive)； When not working, cover it with a cloth bag or plastic bag (or take it indoors) to prevent dust from entering； When using the touch screen, press it lightly. If you press it hard often, it may cause the touch screen to be insensitive. Wheel angle sensor It is better not to load, unload or move the position at will. If it has been moved, it is necessary to re-calibrate the parameters before the next automatic driving； The cable connecting the angle sensor shall be protected to prevent scratching. Body angle sensor The body angle sensor is a core component. Please do not put anything on the body angle sensor to prevent damage during use. Do not move the position arbitrarily ...
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