homemade autosteering egnos

Discussion in 'Precision Farming & GPS' started by stef, Jan 5, 2016.

  1. stef

    stef Member

    Location:
    belgium
    Hello,

    here is some videos of the autosteering system developed at home and installed on my JD3650 and JD7530.

    major components:Software is running under windows, electro-hydraulic valves, Novatel egnos GPS, steering controller (developed at home).







    stef
     
  2. Northern farmer

    Location:
    North
    Interesting. Could you tell more about the SW? Commercial steering valves?

    Is your GPS RTK capable?
     
  3. Well done
     
  4. stef

    stef Member

    Location:
    belgium
    the software is running on .net platform.
    Rtk is not implemented, I actually have other topic/functionalities to implement; so rtk is not foreseen soon...
    I used commercial proportional electrovalves, I built a controller which communicates with the software and manages these electro valves.
     
  5. General-Lee

    General-Lee Member

    Location:
    Devon
    Very good!

    About 0:09 in the 2nd vid are you turning wheel full lock and it's staying there or is it auto steering the headland turn?
     
  6. stef

    stef Member

    Location:
    belgium
    in that video the system was running in "manuel mode":
    the controller has a switch in order to activate/deactivate the autosteering.
    when reaching the headland,
    1. I have to deactivate the autosteering,
    2. then turn manually the wheel left or right in order to go away from the current target track
    3. then reactivate the autosteering, generally this operation occurs when tractor is at 90degrees regarding tracks direction.
    4. the tractor then is able to reach alone the next target track.

    In the meantime, I developed an algorithm in order to fully automate the headland turn.
    in that case
    1. I had first to delimit the field boundary
    2. choose the headland width (around 20 meters)
    3. create the mastertrack (A-B or curve)
    4. track path is pre-calculated regarding turning radius versus implement width in order to optimize the turn (not too tight/wide)
    5. engage the auto steering
    6. the tractor will then follow the tracks and change from track to track autonomously when reaching the headland.
    7. as the implement is not managed by the system, I still have to do it manually(pto, lifting...)
    I hope that my explanations are clear.
    feel free to ask more info.

    stef
     
    Last edited: Jan 7, 2016
  7. stef

    stef Member

    Location:
    belgium
    here is the result, the picture is taken just at the boundary between two tracks
     

    Attached Files:

  8. Robt

    Robt Member

    Location:
    Suffolk
    Does it not disengage of you touch steering wheel via either an encoder or pressure?
    Not knocking just interested to know
     
  9. stef

    stef Member

    Location:
    belgium
    no problem, remarks are welcome!

    Indeed there is no disengagement through a sensor (encoder, pressure,...); this is a voluntary choice in order to minimize the impact or reduce the installation procedure.
    However it would not be that difficult to implement it ( imean technically speaking and software control). But as I had the idea to install it on various machine at the farm (already 2 tractors), maybe the combine next summer, it could come quickly a lot of tinkering.
     
    carrot likes this.
  10. stef

    stef Member

    Location:
    belgium
    a system will be soon installed on tractor of a neighbor in order to have feedback from an external user; this would help me to improve the system...
     
  11. stef

    stef Member

    Location:
    belgium
    Robt,
    do you think that an automatic disengagement is necessary/required? what is your feeling about this? thx
     
  12. Robt

    Robt Member

    Location:
    Suffolk
    An automatic disenegge is essential!
     
    Badshot likes this.
  13. Badshot

    Badshot Member

    Location:
    Kent
    I agree. For safety.
     
  14. eulb

    eulb Member

    What type/make of proportional valve did you use?

    They are very expensive and I'm looking for some for a different type of project but still 12volt.

    Top marks! There are some smart cookies at grass root level.(y)
     
    holwellcourtfarm, General-Lee and gjm like this.
  15. stef

    stef Member

    Location:
    belgium
    ok, i will think about it.
    The automatic/manual switch is a big push switch in the center of the panel`s controller, so it is actually not a problem to disengage very quickly.
    tks
     
    Badshot likes this.
  16. Badshot

    Badshot Member

    Location:
    Kent
    You need the automatic override just in case things go tits up in a big hurry and you don't have time to think, Just react.
    I'm very impressed with what you've done.:)
     
    foxbox and Weare Cham like this.
  17. Excellent work Stef. You're clearly a very bright and capable engineer.

    The controller / software you've written, is that translating PVED-CL commands?
     
  18. stef

    stef Member

    Location:
    belgium
    I built/implementded something similar to PVED-CL commands, I have set of commands to manage the SteeringControler and another set to manage the SprayerSectionsController.
     
    Pheasant Surprise likes this.
  19. stef

    stef Member

    Location:
    belgium

    Ok, I will work on this security feature on a furture release.
    here is a picture of the controller (3 Steering Controllers), whith this "famous" auto/Manu push button (the big blue one)
     

    Attached Files:

    eulb, yellowfrog and JDJ like this.
  20. Robt

    Robt Member

    Location:
    Suffolk
    Jd 30 series don't use that valve
    Mr PS
    The controller / software you've written, is that translating PVED-CL commands?
     

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