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Low Cost GPS-Based System for Site-Specific Farming at Flat Terrains – Case Study
M. Gavrić1 and M. Martinov2
1 2
Institute of Field and Vegetable Crops, Novi Sad, Serbia. E-mail: gavric@ifvcns.ns.ac.yu ABSTRACT
Faculty of Engineering, University of Novi Sad, Novi Sad, Serbia.
M. Gavrić and M. Martinov. “Low Cost GPS-Based System for Site-Specific Farming at Flat Terrains – Case Study”. Agricultural Engineering International: the CIGR Ejournal. Manuscript ATOE 07 004. Vol. IX. July, 2007.
2 2. MATERIALS AND METHODS Garmin Etrex Legend, which is commercially available, was selected for use as a typical lowcost handheld GPS device (Rizos, 2001). It is capable of receiving EGNOS DGPS signal. GPS device was mounted on the top of the tractor cabin. PLC device was mounted in tractor cabin and connected, via serial cable, to the GPS device which sends NMEA messages. From the set of NMEA messages, GPRMC was selected because it contains information about all important parameters – GPS position, current speed and direction. Figure 1 shows the system in operation.
Figure 1. System at work. The selected PLC device was EMC 320, manufactured by NEURON. It uses the programming package CoDeSys (Ver. 2.3.1.10), which supports the IEC 61131-3 standard for PLC programming. CoDeSys is manufactured by 3S-Smart Software Solutions GmbH. In this study, programming language Structured Text (ST) is used. The PLC has 16 digital inputs and 16 digital outputs with corresponding LEDs. In this test, Amazone UF 80 sprayer was used for herbicide application. The sprayer consisted of five sprayer units controlled by PLC’s digital outputs connected to sprayer unit switches on the sprayer control table – shown in figure 2.
Figure 2. Sprayer unit switches on the sprayer control table. M. Gavrić and M. Martinov. “Low Cost GPS-Based System for Site-Specific Farming at Flat Terrains – Case Study”. Agricultural Engineering International: the CIGR Ejournal. Manuscript ATOE 07 004. Vol. IX. July, 2007.
3 The activity diagram in figure 3 presents the PLC program logic. Communication, Main and Keyboard are separate segments of the program which interact through queues. LL2UTM converts coordinates from Latitude-Longitude to UTM projection.
Figure 3. Activity diagram of PLC program in UML notation. The PLC program consists of four basic parts: • Receiving receipt for application – there are two ways of preparing the receipt. One way is to download already prepared points and radii to PLC (this could be done on the basis of aerial images or scouting with GPS device). The other way is to define points and radii using the keyboard when tractor is in the field e.g. during an earlier operation. M. Gavrić and M. Martinov. “Low Cost GPS-Based System for Site-Specific Farming at Flat Terrains – Case Study”. Agricultural Engineering International: the CIGR Ejournal. Manuscript ATOE 07 004. Vol. IX. July, 2007.
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