Description and Operation 4-27
D-I012.1109EN
innovators in agriculture
4.4.2 Control System
The control system keeps the vehicle on the correct route. It has the
following functions:
• measure and correct the driving distance (y)
• measure and correct the speed
• measure and correct the distance to a wall (x)
• measure and correct the direction (α).
Two sensors on the bottom detect the metal striping on the floor. The
information is used to keep the JUNO 150 on the correct route. The
built-in ultrasonic sensor makes sure that the JUNO 150 follows a wall or
feed fence at a pre-determined distance. An electronic gyroscope guides
the JUNO 150 in the correct direction when a turn is programmed.
Figure 22. Control system functions
Driving distance
The encoders on the drive motor shafts measure the number of
revolutions of the motors. This value is used to calculate the travelled
distance. If, due to slip, the actual driving distance is less than calculated
it will be corrected the next time. It can only be corrected if the action
ends at a reset point (a strip on the floor of the feed alley).
Speed
The number of revolutions is also used to calculate the speed. The speed
is constant 12 m/min.
Distance to a wall or fence
The ultrasonic sensor sends a pulsed ultrasound wave at the object and
then measures the time for the sound echo to return. Knowing the
speed of sound, the sensor can determine the distance of the JUNO 150
to a wall or other object. The Multiboard PCB sends output to the drive
motors to correct the distance.
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