FARMDROID FD20, Original User Manual

Page 1: ...FARMDROID FD20 v2 3 ORIGINAL USER MANUAL Version 1 2 Effective from December 2021 ...

Page 2: ... markings 17 2 7 Residual risks 18 3 Upon Reception 19 4 Prior to Commissioning 20 4 1 Test of Internet Performance 20 4 2 SIM card from FarmDroid 20 4 3 SIM card from Third party Provider 21 4 4 Replacing the SIM Card in the Robot 22 5 Commissioning and Entry into Service 23 5 1 Field Setup and Obstacles 23 5 2 Finish Field Setup and Seed Setup 30 5 3 Changing Between Existing Fields 32 6 Daily O...

Page 3: ...rt Maintenance Checks 54 8 4 Purchase and Replacement of Wear Parts and Spare Parts 55 8 5 Preventive maintenance checks of the Safety System 56 9 Storage 58 10 Disposal 60 11 Troubleshooting 61 Appendix A Electrical Wiring Diagrams A Table of Appendix content Electrical system Main board A Operator Panel Schematics B Wire harness Main Tube connections C Wire harness Secondary Tube connections D W...

Page 4: ...ing serial numbers 20220310XXX For more detailed guidance and support please refer to the FarmDroid Guidelines which can be found in the knowledge base or contact your local distributor FarmDroid Knowledge Base https knowledge farmdroid io Manufacturer contact information FarmDroid ApS Industrisvinget 5 DK 6600 Vejen Web www farmdroid dk Mail info farmdroid dk ...

Page 5: ...Transportation Preventive maintenance Storage Troubleshooting Disposal Service technicians Are familiar with basic and advanced functions of the machine including fault finding and communication setup between base station and robot Have received thorough training by FarmDroid and have read and understood the user manual together with all relevant guidelines etc This user group includes local FarmD...

Page 6: ...breviations Abbreviation Definition HMI Human Machine Interface PCB Printed Circuit Board referring to the Electronic Control board on the sowing arm mounted on the active trailer RTK Real Time Kinematic PV Photo Voltaic PLC Programmable Logical Controller GPS Global Positioning System the abbreviation covers in this case common satellite positioning system ...

Page 7: ...User Manual FD20 v2 3 Version 1 2 December 2021 4 1 3 EU Declaration of Conformity ...

Page 8: ...vægelseshastigheder DS EN ISO 13857 2008 Maskinsikkerhed Sikkerhedsafstande til forhindring af at hænder arme ben og fødder kan nå ind i fareområder DS EN ISO 14118 2018 Maskinsikkerhed Forebyggelse af uventet opstart DS EN ISO 14119 2013 Maskinsikkerhed Tvangskoblingsanordninger i forbindelse med afskærmninger Konstruktionsprincipper og udvælgelse DS EN ISO 14120 2015 Maskinsikkerhed Beskyttelses...

Page 9: ...225 250mm Tool Configurable with 4 to 8 active rows and 8 4 passive rows Propulsion Motor Power 2x400W Solar Cell Power 1560W Battery Type 2x 24V 120Ah Lithium Battery Pack LiFePo4 Battery Weight 52 kg 2 x 26kg Robot Base Weight 900 kg incl batteries Max Allowed Extra Robot Weight Max 4 x 35 kg mounted on back wheel frame Max Allowed Extra Trailer Weight Total max 12 kg per row 2 kg per seed press...

Page 10: ...User Manual FD20 v2 3 Version 1 2 December 2021 7 ...

Page 11: ... front a swivel caster wheel The robot navigates by changing speed and or direction of rotation on the rear wheels thereby turning the robot In addition the rear wheels can steer in order to compensate for skidding when running on slopes The tool consists of 12 trailers that are individually suspended in order to operate independently on the soil A configurable range of trailers is solely equipped...

Page 12: ...ard 12 Rear end actuator 13 Weeding Motor 14 Safety wire switches 15 Front wheel suspension 16 Emergency stop switch 17 Solar panel charger 18 Main Switch 19 Batteries 20 Lifting points 21 Top hitch point 22 Propulsion Motor Gear Brake 23 Solar panel switch 24 Inclination sensor ...

Page 13: ...User Manual FD20 v2 3 Version 1 2 December 2021 10 25 Passive trailer weeding tool 26 Active trailer Seeding and weeding ...

Page 14: ...k for manually controlling the robot and 2 stop buttons The screen is touch sensitive and can be operated by a light touch also when wearing gloves Under the screen there are 4 physical buttons that each have a unique function House icon Always takes the user back to the main screen Left arrow Scrolls to the left in the tabs at the bottom of the screen Right arrow Scrolls to the right in the tabs ...

Page 15: ...tch on the left side of the main switchboard Attention When turning on the power the main switchboard must be turned on first and then the solar panels otherwise the solar panels might not start charging the batteries To turn on the power after reconnecting the main switch you must press and hold the stop button on the operator panel for approx 15 seconds until the HMI turns on The stop button lig...

Page 16: ...ency stop on the rear of the machine 2 Emergency stop push button located at the rear of the Robot by the Operation Board with the following purpose Protecting the user during manual operation when the user is located behind the Robot and operates the Robot by using the Operation Board If a dangerous situation should occur the user has easy access to the emergency stop push button Movement will al...

Page 17: ...ement speed is an essential factor with regards to the choice of safety devices and for this exact reason it is not necessary to use distance scanners or similar equipment The safety switches on the Robot are shown in the picture below in accordance with the list above ...

Page 18: ...issioning all security measures must be checked for damages and repaired if there are any signs of damages Make sure to check the devices regularly according to the maintenance instructions in section 8 5 Preventive maintenance checks of the Safety System Always perform a thorough examination of the machine before commissioning in order to make sure that no components cables or the like are damage...

Page 19: ... device Max Total Robot Weight Incl transport device Recommended minimum hitch category and tractor size Field Bracket 1260 kg Cat 2 100Hp Road Transport platform 1750 kg Cat 3 150Hp Transporting the Robot with a tractor must be done at a very slow and steady speed and the local conditions must be taken into account The Robot is neither built for nor intended to function as a conventional tool for...

Page 20: ...nstructions in the user manual regarding sowing and weeding configuration of the tool before commencing such activities Top hitch bracket The operator must read and understand the section covering lifting and transportation of the robot before the robot is transported Solar Panel Charger Solar panel switch Danger potential high voltage Outer limit on tool section Outside trailer on both sides Dang...

Page 21: ...elf others or equipment in the running path of the robot as the robot does not have a visual detection system due to low velocity while moving Only the emergency stop system including the safety wire will stop the robot which requires physical interaction Risk of pinching crushing and minor bodily injuries Never try to perform mechanical adjustments etc on the Robot while in operation The Robot do...

Page 22: ...y Devices and their Function Upon reception make sure that the following components are properly and correctly mounted GPS Antennas The front safety wire arm must not be in transport position and the wire holder at the end must be pushed to upper position holding the wire Safety wire installed and correctly tensioned Emergency push button intact and functionable At the detection of possible errors...

Page 23: ...w the procedure below 1 Download a Speed test app to a smart phone or use the following link https www speedtest net 2 Test the internet connection and performance at the field where the robot is expected to operate and at the desired Base Station location 3 Evaluate the test result of download speed to determine whether the connection is acceptable or additional testing is required a If the initi...

Page 24: ...ta monthly during operation Use of the Camera remote login to the HMI and software updates temporarily increases the data upload from the robot significantly to around 125 175kB s This amounts to approx 10GB of data upload at 15 5 22 hours daily operation of the functions Below is a summary of the expected data consumption related to normal operation and an example of additional data consumption r...

Page 25: ... the control board 4 Remove the cover of the control board 5 Remove the existing SIM Card by pressing down gently with a small screwdriver until you hear a small click Now remove the screwdriver and the SIM card will be released 6 Insert the replacement SIM card in the slot as illustrated in the picture below and press it gently down with a screwdriver until you hear a small click Remount the cove...

Page 26: ...other fields 3 All corner points must be set in one continuous chronological string around the outer edge of the entire field 4 The physical position of the front GPS on the Robot is used when defining a corner point Therefore it is important to position the robot such that the front GPS is located at the desired physical corner point as close to the outer edge of the field as possible while still...

Page 27: ...to the desired field It is recommended to transport the Robot around the field using a tractor and the field bracket or alternatively the Road transport platform When setting up the field there are two rules that the user must follow 1 No obstacle at corner point 1 as this works as a reference for the rest of the field 2 The distance from corner point 1 and to the second and last corner point corn...

Page 28: ...er point 1 thus the distance must be increased or corner point 1 located in another position 2 In the HMI root structure navigate to page 3 Field setup and click the button Field Setup 3 Field Setup 3 In the HMI select Create New Field If the option Continue Field Setup appears it means that the field setup been exited or aborted prior to the field was saved This is an option to continue that fiel...

Page 29: ...3 1 1 Field Setup 2 5 Move the Robot to the first Corner Point of the field such that the front GPS is located at the boarder of the field When in place press Save Corner Point Then move the Robot to the next corner point as instructed on the HMI Corner Point 1 will act as a reference point Continue to set up the corners one by one by physically moving the robot to the next corner point and saving...

Page 30: ...ld settings is presented If these are reflecting the expectations press the Save field button Otherwise go back using the arrow in the top left corner of the HMI The option to Set obstacles will now appear allowing the user to setup restricted areas in which the FarmDroid will not operate e g around a tree or waterhole For guidance on setting up obstacles see step 7 The right forward arrow will di...

Page 31: ...rst Obstacle Corner Point press Save Corner Point An obstacle requires a minimum of 4 corner points Further one obstacle must be completed before the next obstacle is entered If a corner point was entered by mistake the Undo last corner point function can be used Pressing this will delete the coordinates of the last saved corner point and the number indicating the corner point will count one down ...

Page 32: ...pressed by mistake then press Undo current obstacle and the next arrow will appear again Pressing the Next arrow will take the user to the Save field page Now the number of obstacles will appear in the summary If correct press Save field If at this point the field has been fully setup the user will by pressing the arrow in the top right corner of the HMI page enter the page 3 1 3 Field Setup 4 For...

Page 33: ...ill seed row 2 4 6 8 when running in the direction from corner point 1 towards the reference point Headland seeding direction This is used to select whether the headland should be seeded in positive or negative direction compared to the set corner points See page 3 2 Help Field Setup for further explanation No Headland Choose how many full rounds of headlands the robot must seed Each headland will...

Page 34: ...anges have been applied the settings are stored and the seed setup is completed This page can also be accessed later from page 3 Field Selection and Information in case you need to change the settings again before seeding It is of utmost importance that the seeding settings are not changed post commencing the seeding or during seeding of the specific field If the seed distance is changed this chan...

Page 35: ...ciated with the field will appear in the text box to the right of the dropdown menu Furthermore a selection of field settings will be displayed When a field has been set up in a robot using a specific Base Station this specific Base Station must be used for that specific field for the entire season from seeding until the end of weeding If the robot is connected to another Base Station the virtual ...

Page 36: ...e mostly used operation function When this function is chosen the Robot can only be started and stopped by using the operator panel or from the FarmDroid User application No other parts of the machine can be manually controlled during Highly Automated operation However it is possible to read out information e g on HMI page 2 General Information where the most relevant operating data is available I...

Page 37: ... left and right side To reduce this load the speed reduces automatically and temporarily until the load again is acceptable To avoid excess load on the propulsion system the users must ensure to operate within the technical specifications of the robot in terms of weight and slopes 6 5 Auto Load controller If high load continues despite the propulsion overload protection has reduced the speed and t...

Page 38: ...ies are dismounted Otherwise dangerous contact voltages may occur in the system induced by the solar panels The power supply must be disconnected in the following order Follow the procedure below when changing the batteries 1 to 4 1 Disconnect the power supply for the solar panels 1 2 Disconnect the power supply for the main board on the main switch 3 on the left side of the board 3 Remove the bat...

Page 39: ...Manual FD20 v2 3 Version 1 2 December 2021 36 The batteries weigh 26 kg each Therefore make sure to use suitable lifting equipment when dismounting and or transporting the batteries to avoid personal injury ...

Page 40: ...th directions The mechanical height of the tool beam should not be adjusted during a season from commencement of seeding until weeding has been completed Row distance The row distance can be adjusted by moving the individual trailers as required The tool beams and the frame are marked at row distance of 450mm 225mm trailer distance and 500mm 250mm trailer distance Always make sure that both the ac...

Page 41: ... the different holes at the front of the trailer and on the arm holding the spring If a hole towards the bottom of the trailer is used weight will be put on the rear end of the trailer As the spring is moved further up towards the top more weight will be moved to the front wheel of the trailer The spring can also be adjusted on the tensioning arm the further down the spring is placed the higher th...

Page 42: ... row weeding Move sowing arms to idle position The bolt holding the seeding equipment at the desired depth is loosened and the entire arm is moved up on the rest position on the idle bracket Replace the soil scrapers with weeding wire kit On all the active rows remove the soil scrapers by loosening the two nuts on the horizontal bracket Flip the support bracket around so that the horizontal part i...

Page 43: ...weed in both directions The mechanical height of the tool beam should not be adjusted during a season from commencement of seeding until weeding has been completed Weeding arms out of row position Adjustment of the weeding arms position when not in row The scale ranges from 0 100 where 0 represents the weeding arms mechanical being fully out of the row Adjustments are made in the menu 4 1 2 1 Weed...

Page 44: ... position Trailer pressure on the soil The trailer pressure can be adjusted via the HMI Page 4 1 9 Hitch Settings 0 is a fully tightened spring and thereby the highest possible pressure on the ground Weight distribution between front and back wheel is depending on the trailer spring configuration Weight distribution on the trailer front rear The trailers weight distribution can be adjusted by adju...

Page 45: ...setting these and resuming operation If there is a physical or electrical error on the Robot the error must be corrected before restarting the Robot in Highly Automated mode For troubleshooting support see section 11 Troubleshooting 6 11 Factory settings and Back up It is possible to restore to factory settings for essential parameters in the HMI The following pages contain a restore function rela...

Page 46: ... done at a very slow and steady speed and the general conditions must be taken into considerations The Robot is neither built for nor intended to function as a conventional tool for the tractor and therefore it cannot withstand strong impacts from the tractor during transportation The Field Bracket is mounted in the 3 point hitch just like normal tractor equipment The Field bracket must be level w...

Page 47: ... the help of the Road Transport Platform which can be mounted on a tractor 3 point hitch Cat 3 Be aware that the robot needs to be properly fixed to the Road Transport Platform before lifting the robot off the ground Follow below instructions to operate the equipment safely Preparations before use 1 Attach the Road Transport Platform to a tractor with appropriate size of 3 point hitch The top link...

Page 48: ...e robot and the Road Transport Platform 2 Place the ramp for driving the robot onto the Road Transport Platform as shown on the illustration above Ensure the tab on one side of the ramp is engaged in the square pipe on the Road Transport Platform as shown on the image below 3 Push all the fixation arms See below to the inmost position if the Robot rear wheels are configured in outer or middle posi...

Page 49: ...tion Then start reversing the Robot onto the Road Transport Platform using the joystick When rolling on make sure a There is enough clearance between the Robot tool and the platform b The robot is well centered by checking that the distance between tire and wheel frame is equal in both sides c The front wheel runs onto the ramp Fixation arms in inner position Note how the belt of the ratchet strap...

Page 50: ...of the joystick Alternatively activate the emergency stop bottom or safety wire The Robot must only be driven onto the platform in reverse direction and driven off the platform in forward direction Otherwise the front wheel will get stuck The robot must not be driven on or off the platform without the use of the ramp to support the front wheel Equal distance between tire and wheel frame ...

Page 51: ...f the Robot to be positioned right under the brackets for the lifting actuators on the Tooling beam Then erect the fixation arms by moving the locking bolt to be ready to support the tooling beam Be careful when operating the fixation arms to avoid finger or hand injuries Protective gloves are recommended during this work Make sure the locking bolts are safely in position and locked with the Linch...

Page 52: ... both fixation arms If that is not the case or in doubt lower the Robot and adjust Then check again 10 At the front of the Robot the belt and hook of the ratchet straps must be placed properly over the tooling bar without any twisting and the hook can be attached to one of the holes on the fixation arms on the other side Next tighten the Robot to the platform with the ratchet straps on the fixatio...

Page 53: ...nt safety arm to transport position and close the quick release again This ensures that the Robot on the Road Transport Platform is less than 2 55m of width during transport 13 To keep the front wheel in position attach the elastic strap as shown below When it is not in use it can be stored on top of the actuator console Quick release for safety wire arm Front wheel locking pin ...

Page 54: ...e sure the tractor has sufficient weight in the front to attain good steering properties when lifting the Road Transport Platform Otherwise hazards to people and equipment could arise Driving with the Robot must be done at a very slow and steady speed and the road conditions must be taken into considerations The Robot is neither built for nor intended to function as a conventional tool for the tra...

Page 55: ...s or maintenance and service work on the Robot Always set the Robot to manual operation and then turn off both power sources before entering the Robot Task Type Daily Weekly Monthly Yearly Comments Check for general damage on the Robot and especially its safety system Visual Check Replace parts if necessary Contact your local distributor in case of damage on the safety system Check for unusual noi...

Page 56: ... Type Daily Weekly Monthly Yearly Comments Check for general damage on the tools Visual check Replace parts if necessary Check for unusual noise from the Sowing system or weeding motors Auditory check In case of errors contact your local distributor Check seed sensor contamination Visual check Check all light sensors via the HMI screen This is a good way to check if a sensor is unusually dirty and...

Page 57: ... the tools are lifted check each flex wheel for visible damages and replace them if needed Thorough check of the entire tool Perform a thorough inspection of the entire tool once a year Check for loose bolts nuts cables plastic surfaces etc This should be performed by an authorized distributor Task Type Daily Weekly Monthly Yearly Comments Wear on the in row weeding knife Visual check Check for we...

Page 58: ...e Robot s warranty Pay special attention to the instructions following the spare parts and make sure to read and understand them fully before commencing any work Wear on the weeding springs Visual check Wear will be most visible close to the bends of the weeding spring The weeding springs should be replaced if they are worn about halfway through or if they are broken Wear on locking plates holding...

Page 59: ...ype Daily Weekly Monthly Yearly Comments Check for general damage on the Robot and especially its safety system Visual check Consult your local distributor if damages on the safety system are detected Check for damage to the visible indicators Visual check Must be replaced immediately if damaged Check for damage to the audible indicator Audible check Must be replaced immediately if damaged The rob...

Page 60: ...distributor Safety Related Parts List Part Description Manufacturer Part Number Quantity Main Relay Schneider Electric LC1D25BL 1 Safety Relay Schneider Electric XPSUAF13AC 1 Emergency Push Button Schneider Electric XALK178F 1 Emergency Stop Trip Wire Switch left Schneider Electric XY2CJL17H29 1 Emergency Stop Trip Wire Switch right Schneider Electric XY2CJR17H29 1 Wire Tightener for Emergency Sto...

Page 61: ...t brush Avoid high pressure cleaning of Batteries electrical box Solar Panel Charger 2 Safety Systems 1 Check that all emergency stops and safety wires are working These should be tested and reset one by one 3 Seeding System 1 Place the seeding units in the seeding position in order to straighten out the transparent seeding tubes 2 Empty the seeding system and the seed boxes Remove the seed boxes ...

Page 62: ... the propulsion motors and gears Furthermore check the gear shaft for any backlash by firmly grabbing the tires with your hands and rock the wheels back and forth 2 If there are any damages to the coating of the motors or gears these should be touched up by use of appropriate paint When taking the Robot out of storage before beginning a new season read this manual again Furthermore it is required ...

Page 63: ...bstances and materials which can be harmful to the environment Furthermore if recycled correctly most of these materials can be reused for manufacturing of new batteries Thus the batteries could even represent a value if recycled Decommissioned and even damaged solar panels will be able to produce current at high voltage when exposed to the sun If solar panels or connectors are damaged only traine...

Page 64: ...h seed box is properly inserted into the seed funnels 4 Check if the seeding valve is blocked or if any foreign obstacles are preventing the valve from operating If so these obstacles should be removed When the issue has been identified and corrected close the solar panels top and when standing outside the safety wire turn on the main switch on the left side of the main switchboard and then turn o...

Page 65: ...ction test and continue to step 5 Go to page 4 1 2 2 Weeding Tool Settings Advanced and perform a Clutch Check All motors should not move all the way out and in again If a clutch check fails a visual inspection of the specific motor has to be performed The power should be turned off according to step 2 whereafter it manually has to be checked that the weeding arm can move all the way out and in If...

Page 66: ... the system receives RTK corrections If this is not the case then go to step two Check if the Base Station is powered on Restart the Base Station in accordance with the troubleshooting guide provided in the User manual Base Station v2 0 If the above does not solve the problem this could indicate that data communication is missing between the Robot and Base Station In this case contact the FarmDroi...

Page 67: ...f the above does not solve the problem the distributor must be contacted for professional support It is important that the user does not engage in any unauthorized modifications in order to bypass or by other means set aside a safety device in order to resume operation Furthermore the user should not make any operational modifications as in both cases FarmDroid ApS cannot be held accountable for a...

Page 68: ...User Manual FD20 v2 3 Version 1 2 December 2021 A Appendix A Electrical Wiring Diagrams Electrical system Main board ...

Page 69: ...User Manual FD20 v2 3 Version 1 2 December 2021 B Operator Panel Schematics ...

Page 70: ...User Manual FD20 v2 3 Version 1 2 December 2021 C Wire harness Main Tube connections ...

Page 71: ...User Manual FD20 v2 3 Version 1 2 December 2021 D Wire harness Secondary Tube connections ...

Page 72: ...User Manual FD20 v2 3 Version 1 2 December 2021 E Wire harness Wire Connections ...