Abstract
In order to increase safety systems reliability of TOMI harvester, it is necessary to use advance R2100 Distance sensors which can scan all kinds of targets and receive data from automatic control system. The Structure and function of R2100 Distance sensors were provided in this paper, In order to determine the best application function of the R2100, effectiveness of R2100 sensors used for TOMI robot with robotic cutting forage were tested and analyzed. For application in precision agricultural engineering automatic control safety systems, static tests were applied with a box, cylinder, cone and person as 4 target samples which were set at different points and lines with each segment at 8° angle within 11 segments, the target samples were set at 0°, 14°, 44°, 74° and 88° angles with the reference of the sensor at centre, respectively, samples represent obstacles such as tractors, telegraph pole, car, and person which were detected and received by TOMI equipped with R2100 Distance sensors. TOMI Robot equipped with R2100 sensors setting at 240, 420 and 850 mm height, respectively, were set location at about 0.2m, 0.3m, 0.5m, 1m, 1.5m, 2m, 2.5m, 3m, 3.5m and then added up to 0.5 m step up to 10 m with the reference of R2100 sensor in semicircle centre, respectively. In dynamistic testing, the target samples were set at the same method and location, and TOMI robot equipped with Advance R2100 sensors was running at speed of 0.8~1.2 m/s from 5 m to the test centre in dynamistic tests. Tests and statistical evaluate results showed that the average R<sup>2</sup> on TOMI robot was up to 98.96% in static tests, while the average R2 is up to 98.67% in dynamistic test, and as far as TOMI robot’s safety system, 420 mm height was the best location for scanning all kinds of obstacles. The experiment results showed that the Advance R2100 was accurate sensor for application, it had been carried out on TOMI's intelligence safety systems which more practical and safety working in various fields.
Highlights
It is well known that all sensors have advantages and disadvantages, two main factors should be considered before choosing Advance sensors: Reliability and economical Application function
Before static and dynamic testing, Tests planning need design and write such as testing steps and testing methods, and Static tests were showed as Figure 4: a box, cylinder, cone and person were used as 4 target samples, which were set at various points and lines at 0°, 14°, 44°, 74° and 88° angles with the reference of the Advance R2100 sensor at center, and target samples represent as scanning obstacle such as vehicle, telegraph pole, pet and person, respectively
Dynamistic tests were aimed to detecting the response and received data about between advance R2100 Distance sensors equipped by TOMI at average velocities 1 m/s and other obstacles such as tractors working in fields, and 4 target samples, the different detecting response and received data between dynamistic tests and static tests were carried out, by paralleling x-y axis to center axis, the dynamistic vibration amplitude of TOMI equipped with advance distance sensor can be received and echo when TOMI was working in fields
Summary
It is well known that all sensors have advantages and disadvantages, two main factors should be considered before choosing Advance sensors: Reliability and economical Application function. OMD8000-R2100-R2-2V15 type of R2100 Distance sensors was used to test accurate with 3D direction scanning range of 88° and multi-beam LCD scanner using test Pulse Ranging and 3D valid max-distance, Structure and function were showed about pulse ranging technology (PRT) and American Journal of Remote Sensing 2020; 8(2): 50-57 following application tests which boasting a wide field of coverage with from 0.2 to 2 m at bw 6% and from 0.2 to 8 m at wb 90% [10]. Effective pulse ranging technology (PRT) ensures reliable and stable 2D measurement results independent of the application environment. These made Advance R2100 sensors truly unique solution for a wide range of safety harvesting tasks [11]
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