Abstract-R2100 sensor can provide an increased safety zone for Robot mower, it is necessary to use the advanced distance sensor that scans all kind of targets and receives data for the automatic control system and update the farm management information system. In this study, to determine the best height and view of the distance sensor. For use in modern precision agricultural automatic safety control system, a static and dynamic tests using a box , Cylinder, Cone and person as four target samples which were set at various points and lines were set at 0°,14°,44°,74°and 88°angle with the reference of the sensor at center. The distance sensor was set at 240mm,420mm and 850mm height, respectively. Tests and Statistical analysis of results showed that the accuracy of the new distance sensor mounted on Tomi's robot mower is up to 98.04%,and as far as the new safety system, it was set at 420mm height that would be best location for scanning all kinds of obstacles, In order to evaluate the sensor's behavior, the practical field working conditions were imitated and the dynamic test showed the similar results with the static test.
Aimed to design safety systems and evaluate the behaviours about Robot grass cutting named TOMI, the False Tree Analysis, Failure Mode Effects Tree Analysis methods were used for review and analysis about the TOMI Robot, it would be liability and legislation; TOMI Robot management embedded guidelines and knowledge such as Agricultural Engineering, Design and manufacture of agricultural machinery, Mechanic Theory, Mathematics, Electronics, Grass science, Computer science and several software programs; Procedure and Reliability analysis for robots TOMI safety systems are key features , the safety systems of Agricultural Robot such as TOMI should be checked in various working circumstance; With the full consideration of engineering practicability, the solutions to the safety problems of the TOMI robot are promoted, Technology Route and models about TOMI's safety system were built, Process Management 、 continual improvement tools and Techniques and effects analysis were built in the new safety systems of TOMI Robot.TOMI Function Measurements such as Braking、throttle and pedal force were tested and analysised.TOMI's Mechanical system 、 Hydraulics and Electrical Systems were tested for checking safety and evaluated, some sensors and laser such as Distance sensors, SICK, GPS, Dead man handle, safety red button and bumpers were built up and developed the TOMI Robot's new safety systems; To ensure the safety and reliable operation is a system engineering, it is involved to various TOMI robot design, production, operation, adjust, and management; to improve the TOMI robot reliability and reduce the failure frequency was an important way to improve the robot inherent safety; The Evaluation Criteria of Robot grass Cutting DFMEA occurrence may be suggested to use multiple complex technology knowledge and design with more experience. Application built with Microsoft Robot Development studio was run over on the www.webfarming.com. The hazard and risk analysis were detailed about the safety problems of TOMI robot and deeply studied. Development more practical and safety TOMI Robot would be carried out at northwest China in the future.
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 2 on TOMI robot was up to 98.96% in static tests, while the average R 2 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.
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