Testing and calibration of row offset when weeding in opposite direction

PROBLEM DESCRIPTION

When weeding in opposite direction one of the key parameters is that the robot runs in the correct track and spacing of the seeding and weeding units on the frame is correct. If this is not the case, then the basis for a successful result is not present.

TEST PROCEDURE

The following test can be performed either on a test field or on real farming field. In both cases, it is fundamental to see the tracks of the wheels of the robot and of the single trailers.

STEP 1

Let the robot drive into a pass located in a flat area of the field.

If the robot is not placed into the field:

• • Select "weeding" as operation
  • Drive it manually into a pass
  • Ensure the robot is pointing towards the correct driving direction, according to the settings
  • Select "make pass from here" in the route menu
  • Calculate the new route

STEP 2

Let the robot drive autonomously for circa 30 meter in the pass, then stop it.

STEP 3

Turn the robot manually so that it faces the opposite direction in the same pass

STEP 4

Select the opposite driving direction in the route calculation menu, select "make pass from here" and calculate the new route

STEP 5

Start the robot and take a close look at the position of:

• Front and rear wheels
• Active and passive trailers

make sure all drive in the same spots (see videos below for ideal results) 

STEP 6

If the field has a lot of hills, repeat steps 1 to 5 in a spot with side slope in relation to the driving direction

RESULT EVALUATION