Otonom çapa makinesi taşıma sistemi tasarımı (CaTS) ve farklı yönlendirme modlarında performans analizi

Öz

Bu çalışmada, çapa makinesinin kullanımı esnasında iş güvenliğini arttırmak, insan etkileşimini en aza indirmek, daha aktif ve verimli kullanımını sağlamak için çapa makinesinin otomatik kullanımına yönelik GPS modülüne entegre lazer tarayıcılarla destekli çapa makinesi taşıma sistemi (CaTS) prototipi geliştirilmiştir. CaTS, meyve bahçesi veya boş arazilerde belirlenen sıra merkezlerinde hizalı bir şekilde toprağı işleyerek ilerleme ve sıra dönüş görevlerini yerine getirebilme özelliği ile tasarlanmıştır. CaTS’ ni doğrulamak için bir kontrol ve navigasyon sistemi tasarlanıp üretilmiştir. CaTS kontrol sistemiyle zeytin meyve bahçesi ağaç sıra arası poz hatalarını düzeltmek, ağaç sıra aralarında ilerlerken eş zamanlı çapa makinesi freze bıçakları ile toprağın işlenmesi ve tarla sonunda ağaç sıra arasına girmek gibi görevler yerine getirilmiştir. CaTS saha testlerinde iki farklı yönlendirme modu da kullanılarak yanal hatalar karşılaştırılmıştır. CaTS ağaç sıra merkez hattında hizalı ilerleme testlerinde C4WS yönlendirme modu ile 0.11 m yanal hata ve ağaç sıra arasına dönüş C4WS yönlendirme modu ile 0.10 yanal hata ile başarıyla yönlendirilmiştir. Çapa makinesine entegre farklı ekipmanlar ve operatör kontrolüyle yapılan tarım işleri, CaTS ile otomatik olarak gerçekleştirilebilir. CaTS ile çapa makinesinin daha aktif ve verimli kullanımın yanında çapa makinesinin operatör kontrolü esnasında karşılaşılan kas ve iskelet hastalıkları ile iş kazaları en aza indirilebilir.

Anahtar Kelimeler

• Çapa makinesi
• RTK- GPS
• lazer tarayıcı
• dubins eğrisi
• 4WIS yönlendirme sistemi
• yanal hata

Kaynakça

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