The Garford Robocrop Precision Guidance System is a computer-controlled steering system designed for precision-guided implements, primarily for inter-row cultivation. It utilizes a digital camera, a cab-mounted console, and a hydraulic side shift (or steered discs) to keep the implement precisely on track over crop rows.
Function Description:
The system's primary function is to guide agricultural implements with high precision by analyzing live camera images of crop rows. A digital camera, mounted on the implement, captures a wide view of the crop, typically several rows. The cab-mounted console, containing a computer, processes these images to identify exact row centers. It distinguishes green crop and weeds from soil, stones, and trash. For red crops, specialized systems are available. The system matches a pre-programmed template, corresponding to the known planting pattern, with the crop rows in the camera image. This template, overlaid as green lines on the console's live video display, helps ensure accurate row following. The computer then controls a hydraulic side shift or steered discs to adjust the implement's position, keeping the camera centered over the crop rows and the implement on track. Matching a template to a broad area of crop, rather than individual rows, enhances reliability, especially when parts of rows are obscured or missing. Configuration files, tailored to specific crop planting geometries and implement configurations, determine the template shape. Different configuration files can be created for various crops and implements.
Important Technical Specifications:
- Power Supply: 12V DC, connected directly to the tractor battery or purpose-designed power sockets. Cigarette lighter sockets are not suitable.
- Fuse: A 20Amp fuse is fitted near the battery terminals for short circuit protection.
- Hydraulic System: Requires a suitable double-acting valve connection on the tractor. Hoses are marked RED for supply and BLUE for return.
- Side Shift Rate: A normal side shift rate is 0.1m/s (e.g., 3 seconds to travel a 0.3m stroke).
- Speed Range: Guidance is effective up to 20 kph, with green speed bar indication up to 11 kph and red over 15 kph. Working speeds up to 12 kph are typically accommodated, though mechanical interaction with soil and plants may dictate lower speeds.
- Lateral Position Error Warning: A warning triangle is displayed if the estimated lateral position error exceeds 25mm.
- Camera Skew: The system estimates camera angular misalignment in the horizontal plane, stabilizing after approximately 100m of running. Skews exceeding 3 degrees indicate poor camera alignment.
- Camera Offset: For multiple cameras on the same section, this measures the lateral error between cameras.
- Odometer Scale: Calculated from pulses per revolution (PPR = 12 normally) of the encoder and ground engaging wheel diameter using the formula: PI x Wheel diameter / PPR.
- Console Mounting: Four M6 tapped holes at a 100mm square pitch on the rear of the console for bracket mounting, with vibration isolation recommended.
Usage Features:
- Console Interface: Touchscreen interface with graphical symbols for navigation and data entry.
- Working Screen: Displays a live camera video image with superimposed green template lines and eight crosses (blue for good match, yellow/red for poor match) indicating template alignment. An image quality gauge (green bar) indicates tracking performance.
- Information Symbols: Includes a warning triangle for poor tracking, an implement lift symbol, and a circular red braked symbol if the implement is down but not moving. A speed gauge shows forward speed.
- Fine Offset Adjustment: Allows users to compensate for minor lateral camera misalignment or side slopes, typically in 1cm steps. The number and size of steps are configurable.
- Manual Mode: Disables vision steering, allowing manual left/right movement of the side shift/steering discs in 7% steps of potentiometer stroke. This mode is active only when the implement is lifted or moving.
- Setup Menu: Accessed via a spanner symbol button, allows selection of crop size (small, medium, large), configuration files, and crop color (Green, Red, R & G, Custom).
- Advanced Setup & Diagnostics Menu: Provides information on software version, running time, area worked, units (metric/imperial), camera skew, camera offset, and error log. It also includes a "Test steering" function to check hydraulic operation and mechanical components.
- Configuration File Editor: Allows experienced users to create and edit configuration files, change general machine settings, and language. It requires a PIN (default 1,2,3,4) for access. Parameters include camera mounting geometry (height, look ahead, distance ahead of cultivators), number of rows, and row spacing.
- Custom Color: Optional facility to bias the color used for plant detection, useful for crops with unusual hues (e.g., brassicas, alliums). Infra-Red cameras can be fitted for particularly unusual colors.
- Audible Warnings: A buzzer sounds when warning symbols (e.g., poor tracking) appear on the working screen.
- Auto Select Feelers: (For mechanical crop guidance feelers) Automatically switches from vision to feeler guidance when a feeler is deflected.
- Go to Manual if Lost: Switches control to manual and sounds a buzzer if the system loses track of row position.
- Centre When Entering Manual: Side shift/steering discs centralize upon entering manual mode.
- Multi-Camera Systems: Supports multiple cameras, displaying live thumbnail videos along the top of the display, which can be selected for full-size view. Additional cameras can be added for CCTV functions without guidance.
Maintenance Features:
- No Lubrication Points: The side shift mechanism does not require lubrication.
- Cleaning: Regularly check and clean dirt from side shift rails and rollers. Avoid pressure washing electrical components (potentiometer, camera, solenoid valves, micro-controller box).
- Cable and Hose Inspection: Regularly check the routing of hoses and cables for chaffing and damage.
- Storage: Store the hoe fully undercover. The console and camera should be stored in a dry atmosphere.
- Fuse Check: Ensure the correct 20 amp fuse is fitted in the power supply.
- Polarity Check: Verify correct supply polarity (Blue = negative, Brown/Orange/Black + = positive).
- Oil Flow Direction: Ensure correct oil flow direction (Red=supply, Blue=return).
- Service Menu: Accessible from the start-up screen, offering tools such as:
- "View archived logs": Displays past error messages.
- "Back up configuration to a USB device": Copies configuration files and error logs to a USB stick for remote diagnosis.
- "Restore configuration from a USB device": Installs configuration files from a backup.
- "Apply updates from a USB device": Lists and installs update files.
- "Capture images to a USB device": Takes still images of crop scenes for evaluation.
- "Adjust camera allocation": Changes the order of cameras in multi-camera systems.
- "Remove software": Deletes software (use with caution).
- "Reset PIN": Resets the configuration file editor PIN.
- LED Blink Codes: System components (console, implement module, manual/feeler modules) are fitted with LEDs that provide diagnostic information through specific blink patterns, indicating system status or error conditions. These codes help in fault finding.
- Console Fault Codes: Numeric fault codes displayed in error messages and the error log provide specific information about system issues, categorized as internal, camera, microcontroller, hardware, and operator errors.
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