5.4006.8501.0
B
5-8
5.11
Prepare for Route Programming
5.11.1
Requirements for a good Route
Be aware of the intended use before programming the Discovery (See chapter Intended
Use).
Make it possible for the machine to correct itself
•
Include as many bump points as possible in all directions. If, due to slipping, the bump point is not
reached in time, the machine continues until the bump point is reached. This improves the reliability of
the route.
•
Be aware that actions like
Turn
and
Straight
may cause inaccurate results. Make sure the vehicle
cannot get stuck after making a turn or driving straight. Program a 'long action' (wall contact:
Wall follow
or
Ultrasound
) after a 'short action' (no wall contact:
Turn
or
Straight
•
If the vehicle follows the wall or cubicle row (
Wall follow
or
Ultrasound
) and if there is a bend, stop
the vehicle, program a turn and go on to follow the wall (see To follow a Bend in a Wall on page 5-18).
Make it easy for yourself
•
Program routes from different positions in the barn back to the charging station. This will enable you
to easily return the vehicle back to the charging station in case it gets lost.
•
Make a backup after programming a route.
Adapt the route or settings to the herd
•
The beep can be modified separate for each route. If the beep length is set to 0, the beep is switched
Off
. If a warning signal is given, the cows have time to move out of the way. However, the sound may
equally well disturb other cows (see which settings suit your herd best).
•
Set the speed to a lower level for parts of the route or the whole route if the cows are disturbed (see
Set the Speed for a Particular Action on page 5-34).
Only spray water when needed
The water tank capacity is 30 L (7.9 gal), which is enough for approximately 30 minutes of spraying. As a
result the machine must return to the water filling station (and the charging station) for a refill.
5.11.2
Example Routes, Barn with Milking Robot
In the example situation, the barn is divided into 3 areas. The time path has different routes to clean each
area:
Route 1
The area behind the cubicles is most extensively polluted (see figure 26 on page 5-9). It should be cleaned
each hour at least.
in n o vato rs in ag ric u ltu re
Summary of Contents for Lely Discovery 90 SW
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Page 62: ...INTENTIONALLY BLANK 5 4006 8501 0 B 4 36 Description and Operation innovators in agriculture ...
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