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Automatic Ploughing
Automatic Ploughing
Automatic Ploughing
Overview
0 Objective
0 Introduction
0 Materials and methods 0 Experimental results and discussion 0 Conclusion 0 References
OBJECTIVE
0 To built an apparatus which controls the steering of a
INTRODUCTION
Opto-electronic remote sensing techniques were used for position finding and a microprocessor based unit controls the movements of the tractor just before and during the headland turn.
Control requirements
0 Two
Travelling in a straight line, parallel to the first manually-controlled pass. For this purpose an Optoelectronic displacement transducer is used. 2. The other control requirement is at the headland. A microprocessor based sensor is used to lift the plough and take U-turn by the tractor.
1.
EXPERIMENTAL TRACTOR
Control of the tractor near to and during the turn at the headland
Controlled by microprocessor based controller which receives input data from an opto- electronic range and bearing meter and from a heading indicator.
at the headland is intended for ploughing with a reversible plough. 0 The tractor is required to reverse its direction and also to move sideways by a cultivation width, using the least depth of headland compatible with the man oeuvre. 0 A modified U-turn has been adopted for the purpose in preference to a 3-point turn since it involves fewer gear changes and steering operations.
Cos =W
The principle of operation of the range meter is the measurement of the time delay in terms of phase difference between a projected continuously-modulated light signal and the reflection received from a reflecting post.
Range meter
The bearing of the boundary post relative to the tractor is measured simultaneously with the range measurement by a precision potentiometer linked to the rotating mirror of the range meter. A single-turn potentiometer with an electrical angle of 357 is used and the zero point is set to be parallel to a line through the rear axle of the tractor. This line then becomes the reference for all the subsequent trigonometric calculations. This datum was chosen since at no time do we use measurements made when the tractor is at or near a right angle to the furrow; a gap of approximately 3 in the angular measurement therefore does not matter. The analogue data from the bearing transducer is converted into a 12-bit binary number before going to the microprocessor where it is processed similarly to the range data before it is used in the calculations.
Software description
0 Main program
conclusion
Refrences