GPS and Sideshift Controlled Interrow Hoeing

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GPS and Side-shift Controlled Inter-row Hoeing
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Contributors Autonomous Inter-row Hoeing

• Jaime Soriano Ibarra (MSc student, master thesis)
• Hans W. Griepentrog (main supervision, machine
  design)
• Michael Nørremark (software, field experiments)
• Jon Nielsen (software, hardware)
• Supported by

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Main Objectives Autonomous Inter-row Hoeing

• Design of a side-shift system
• Assessment of the performance (cross track
  errors)
• Optimisation of row unit settings

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High Technology in 1885
Prof. B.S. Jørgensen 1885 Inter-row Hoeing from
KVL Text Book 1885
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Autonomous Hoeing (Inter-Row Hoeing)
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ECO-DAN Camera for Row/Track Guidance
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Robotic Weeding Project (DIAS KVL)
WP2
WP4
WP5
WP3
WP4
WP4
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Inter-row Hoeing
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RTK GPS 1
RTK GPS 2
Sideshift
Tractor
Baertschi Hoe
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Automatic Hoeing (Inter Row Hoeing)
RTK GPSAntenna Tractor
Implement Controller Side shift
Tractor Controller for speed, steering,engine rpm
RTK GPSAntenna Hoe
Conventional hoewith hydraulic side-shift
Automatic tractor
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The Inter-row Hoe (Baertschi)
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The Inter-row Hoe (Baertschi)
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Stabilizing disc to take transversal forces
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Side-Shift Controller System
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Hydraulic Control
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(No Transcript)
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Field Experiments

• 2 Forward speeds (2 and 4 km/h)
• Straight trajectories in NS and EW (45 m)
• 1 Repetition
• Data analysis
• GPS data logging (10 Hz)
• Manually measureddeviations (ruler)

Taastrup Campus 55?40.16726 North, 12?18.52900
East
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Measuring Deviations to the Planned Path(Crop
Rows)
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Lateral DeviationsMean
Soriano Ibarra 2005
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Lateral DeviationsSD
Soriano Ibarra 2005
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Optimisation of Unit settings

• Results

XUWW XRW - 4(SD) - XSB
where XUWW unit working width XRW row width
(50 cm) SD standard deviation XSB safety
band width (50 mm).
Example 5 crop losses, 500 mm row width,50 mm
safety band and 15 mm SD gives a hoe unit setting
of 390 mm
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Thanks for your attention !