The accuracy, energy consumption and environmental protection of the shuttle gantry robots in arable farming

Abstract

The theoretical and the experimental researches of accuracy of guidance of the shuttle gantry module with hydrostatic drive are submitted. For this research, the shuttle automatically directly positioned gantry module, with proportional regulation by hydrostatic gear constructed. Influence of a micro relief, chassis speed differences and speed correction intensity for accuracy of guidance of the shuttle gantry module has been determined. The gantry module worked in automatic mode. The three optical sensors and the laser were used for posture sensing. The researches have shown that characteristics of the chassis have more influences for accuracy of guidance than a rough ground. The modelling has shown that the speed of the chassis can have 30% difference during run-up and braking process of the gantry. Very big intensity of speed correction has negative influence on the accuracy of guidance and the consumption of power. Therefore not effectively to supply more than 60% of oil flow for the chassis with lower speed. The experimental researches have shown that in that case, when distance betveen the optical sensors is 50 mm, the maximum declination of guidance is 33 mm from mean trajectory