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Description and Operation 4-47
Manual Feed Pushing with Manual Control
When Manual control is enabled the machine can be driven manually through the barn or the machine
can follow a route independent from the day planning. For instance to test a route.
Figure 18. Actions make a route
KEY:
1. Strip follow 2. Turn right 90º 3. Straight drive 4. Turn right 90º 5. Feed push left 6. Straight drive 7. Feed push left 8. Turn
right 90º 9. Straight drive 10. Turn right 90º 11. Feed push left 12. Charger drive L
4.4.2 Control System
The control system keeps the vehicle on the correct route. Two sensors on the bottom detect the metal
strips on the floor. The built-in ultrasonic sensors makes sure that the machine follows a wall or feed fence
at a predetermined distance. An electronic gyroscope guides the machine into the correct direction when
a turn is programmed.
Driving distance
The machine measures the number of revolutions of the motors. The measured 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.
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 determines the distance of the machine to
a wall, fence or other object. The control software in the VCB uses the ultrasound data along with data
coming from other sensors to determine the motor speeds that the VIOB must set.
Direction
The machine has a gyroscope that is used to make the machine turn and to determine the direction the
machine must follow. The gyroscope is reset if the machine determines drift during operation.
in n o vato rs in agriculture
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