Annals of Warsaw University of Life Sciences - SGGW.
Annals of Warsaw University of Life Sciences - SGGW.
Annals of Warsaw University of Life Sciences - SGGW.
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20 G. Viselga, J.R. KamińskiE.g. in this way we calculate, that a 40m-long spar will provide a possibility forPGM to operate at 0.42 ha/h net labourefficiency.Summing up energy input <strong>of</strong> PGMpositioning and implements in workingpositions we can determine total energyinput.Having adopted the earlier-mentionedperspective PGM parameters and networking efficiency: for implements 0.45ha/h and chassis 7 ha/h, we determinedthat energy input <strong>of</strong> implements workequals 8.0 kWh/ha, and that <strong>of</strong> chassispositioning 0.6 kWh/ha. Therefore, totalenergy input can make up only 8.6 kWh/ha.CONCLUSIONS• When automatically controllingpositioned gantry module there has tobe a straight-line course maintenancesystem, e.g. according to the laserbeam.• Accuracy <strong>of</strong> positioning increasesat reduction <strong>of</strong> speed <strong>of</strong> movementchassis and with that <strong>of</strong> the connectedforces <strong>of</strong> inertia <strong>of</strong> the gantry unit.• Straight-line course deviations <strong>of</strong> theright chassis are reduced by distancingphotodiodes from the straight-linecourse positioned left chassis C > 0and reduction <strong>of</strong> their inter-axial distanceA. Mean square deviation whenincreasing the distance between photodiodesfrom 50 to 67 mm, increasedby 1.3 times, from 81 to 104 mm.• Energy input for a single-time soilloosening at 10 cm <strong>of</strong> the perspectivePGM amounts to 8.0 kWh/ha, forchassis positioning 0.6 kWh/ha, thetotal energy input can amount only toabout 8.6 kWh/ha.REFERENCESHOLT J.B., TILLETT N.D. 1989: The development<strong>of</strong> a nine metre span gantry forthe mechanized production and harvesting<strong>of</strong> cauliflowers and other field vegetables.Journal <strong>of</strong> agricultural engineeringresearch. Vol. 43, p. 125–135.QUICK R.G. 1987: Engineering an agriculturalfuture. Agricultural engineering.Australia. Vol. 16, p. 8–11.VISELGA G. 2006: Research <strong>of</strong> AccuracyParameters <strong>of</strong> the Gantry Course. SolidState Phenomena, Vol. 113 „MechatronicSystems and Materials“, p. 50–54.VISELGA G., BAREISIS R., SNIAUKAP. 2003: Investigation <strong>of</strong> positioningaccuracy <strong>of</strong> shuttle gantry tillage modules.Bioagrotechnical systems engineering.Research papers. <strong>Warsaw</strong> <strong>University</strong> <strong>of</strong>technology. Poland. No 2–3 (11–12),p. 127–134. (In Russian).VISELGA G. 1998: Investigation <strong>of</strong> theutilization <strong>of</strong> the principles <strong>of</strong> gantryagriculture in small fields. Doctoralthesis. Raudondvaris. (In Lithuanian).VISELGA G., KAMIŃSKI J.R. 2006: Analysis<strong>of</strong> soil compaction at potato cultivation.Zeszyty Problemowe PostępówNauk Rolniczych, 508: 203–208.Streszczenie: Precyzja i parametry energetycznepozycjonowanego modułu bramowego. Sterowaniepozycjonowaniem urządzenia bramowego(wózka narzędziowego) odbywa się za pomocąurządzenia laserowego. Generator laserowejwiązki promieniowania emitujący pionową wiązkępromieni, umieszczony jest na końcu uprawianegopola. Odbiornik laserowej wiązki promieniz fotodiodami zamontowany jest na module nastawczymurządzenia bramowego. Dokładnośćpozycjonowania została zbadana dla dwóch przypadków,gdy urządzenie laserowe zostało zamontowanena końcu wraz z toczącymi się rolkami,oraz gdy było zamontowane centralnie. Oszaco-
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