Automação do sistema de direção de uma colhedora de café
Autor(a) principal: | |
---|---|
Data de Publicação: | 2013 |
Tipo de documento: | Dissertação |
Idioma: | por |
Título da fonte: | LOCUS Repositório Institucional da UFV |
Texto Completo: | http://locus.ufv.br/handle/123456789/3656 |
Resumo: | Coffee is one of the most important products exported by Brazil, it is responsible for many employments, and keeps a positive balance of trade, as well. The harvest is the most complex and expensive operation on grain production process, principally in relation to the labor. As a result, it is increasing the necessity of mechanizing.There are three types of harvest: manual, semi-manual and mechanical. The mechanical coffee harvesting decreases the labor necessary on the process, which causes reduction of production costs. However, there is not fully executable solution for mechanical harvesting in mountainous region. For this reason, the costs related to the manual harvesting are transferred to the consumers in these regions. In order to reduce the harvesting costs, many researches have been developed to adjust coffee harvesters to this type of relief. The biggest obstacles are the risk of coffee harvester tipping and the difficult to maneuver the machine.Therefore, it is necessary to build a machinery system adapted to the terrain slope and it will demand an innovative steering wheel system. The concept of automatic vehicle guidance has already happened in other types of monocrops, using electronic components associated to the agricultural machinery. All machine control systems are connected to the central command, which applies algorithms stored in the memory, to perform pre-established tasks by the operator. For example, functions of the machine such as guidance and control on the harvesting area. For this reason, there are PLC systems (Programmable Logic Controller) that use microcontrollers to control the guidance systems of agricultural machinery. Among the microcontrollers systems, the Arduino platform is highlighted due to its low cost of components and simplicity of programming language. The main objective of this work was to develop two control systems to the coffee harvester guidance, based on PCL system and Arduino platform. Both systems were evaluated and compared in laboratory. The systems were assembled in the coffee harvester and potentiometric sensors were used to control the steering wheel. The steering wheel angle run from algorithm was the criterion used to evaluate the developed system. This study considered two movements of the machine. The first was realized with tires in parallel while the second was with tires in curvilinear motion. It was considered twelve angles of execution to the parallel system motion and to the curvilinear motion was considered eight angles of execution. The entire random delineation was applied with four replications to the parallel motion and five to the curvilinear motion. Both steering wheel systems were compared through their results in each tire and motion (parallel and curvilinear). The steering wheel systems of coffee harvesters were developed and the results showed great accuracy for both systems, as much to the parallel motion as to all tires. The systems obtained great precision and were practically equals statistically on the curvilinear motion. However, the PLC system was more accurate than the Arduino system. |
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Veloso, Gustavo Vieirahttp://lattes.cnpq.br/5446388671333942Fernandes, Haroldo Carloshttp://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4761460E6Valente, Domingos Sárvio Magalhãeshttp://lattes.cnpq.br/8080945803303151Teixeira, Mauri Martinshttp://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4783316J8Monteiro, Paulo Marcos de Barroshttp://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4798498J62015-03-26T13:23:54Z2014-05-092015-03-26T13:23:54Z2013-07-30VELOSO, Gustavo Vieira. Automation system direction of a coffee harvester. 2013. 79 f. Dissertação (Mestrado em Construções rurais e ambiência; Energia na agricultura; Mecanização agrícola; Processamento de produ) - Universidade Federal de Viçosa, Viçosa, 2013.http://locus.ufv.br/handle/123456789/3656Coffee is one of the most important products exported by Brazil, it is responsible for many employments, and keeps a positive balance of trade, as well. The harvest is the most complex and expensive operation on grain production process, principally in relation to the labor. As a result, it is increasing the necessity of mechanizing.There are three types of harvest: manual, semi-manual and mechanical. The mechanical coffee harvesting decreases the labor necessary on the process, which causes reduction of production costs. However, there is not fully executable solution for mechanical harvesting in mountainous region. For this reason, the costs related to the manual harvesting are transferred to the consumers in these regions. In order to reduce the harvesting costs, many researches have been developed to adjust coffee harvesters to this type of relief. The biggest obstacles are the risk of coffee harvester tipping and the difficult to maneuver the machine.Therefore, it is necessary to build a machinery system adapted to the terrain slope and it will demand an innovative steering wheel system. The concept of automatic vehicle guidance has already happened in other types of monocrops, using electronic components associated to the agricultural machinery. All machine control systems are connected to the central command, which applies algorithms stored in the memory, to perform pre-established tasks by the operator. For example, functions of the machine such as guidance and control on the harvesting area. For this reason, there are PLC systems (Programmable Logic Controller) that use microcontrollers to control the guidance systems of agricultural machinery. Among the microcontrollers systems, the Arduino platform is highlighted due to its low cost of components and simplicity of programming language. The main objective of this work was to develop two control systems to the coffee harvester guidance, based on PCL system and Arduino platform. Both systems were evaluated and compared in laboratory. The systems were assembled in the coffee harvester and potentiometric sensors were used to control the steering wheel. The steering wheel angle run from algorithm was the criterion used to evaluate the developed system. This study considered two movements of the machine. The first was realized with tires in parallel while the second was with tires in curvilinear motion. It was considered twelve angles of execution to the parallel system motion and to the curvilinear motion was considered eight angles of execution. The entire random delineation was applied with four replications to the parallel motion and five to the curvilinear motion. Both steering wheel systems were compared through their results in each tire and motion (parallel and curvilinear). The steering wheel systems of coffee harvesters were developed and the results showed great accuracy for both systems, as much to the parallel motion as to all tires. The systems obtained great precision and were practically equals statistically on the curvilinear motion. However, the PLC system was more accurate than the Arduino system.O café é um dos principais itens de exportação do Brasil, como um dos líderes na balança comercial, e responsável por gerar um grande número de empregos. A colheita é a operação mais complexa e dispendiosa dentro do processo produtivo deste grão, principalmente em relação à mão de obra. Assim, cada vez mais, se faz necessário mecanizar esse processo. A colheita pode ser realizada de três formas: a manual, a semi- mecanizada e a mecanizada. A mecanização da coleta do café promove a diminuição da mão-de-obra necessária, que incorre na redução dos custos de produção. Entretanto, não há uma solução plenamente executável para a mecanização da colheita do café em regiões montanhosas. Assim sendo, os altos custos associados com a colheita manual, nestas regiões, são repassados ao consumidor. Para reduzir os custos da colheita, pesquisas estão sendo realizadas para o desenvolvimento de colhedoras adaptadas para este tipo de relevo. O grande empecilho está relacionado à manobrabilidade e ao risco de tombamento da colhedora. Assim, há a necessidade da construção de um sistema de máquina adaptado à declividade do terreno, e isso irá demandar o desenvolvimento de um sistema de direção das rodas desta máquina em questão que seja inovador. Em outras monoculturas, o conceito de orientação automática já vem sendo realizado, com o uso de componentes eletrônicos associados com o maquinário agrícola. Todos os sistemas de controle da máquina são ligados uma central de comando. Por sua vez, a central utiliza algoritmos armazenados em sua memória, para executar funções preestabelecidas pelo operador. Como, por exemplo, a execução as funções de direção e controle da máquina na área de colheita. Para isso existem sistemas CLP (controlador lógico programável) que empregam microcontroladores responsáveis pelos controles dos sistemas de direção de máquinas agrícolas. Entre os sistemas microcontrolados, tem-se a plataforma Arduino, que vem ganhando força devido ao seu baixo custo de aquisição dos componentes e a simplicidade de programação. Desse modo, o objetivo desse trabalho foi desenvolver dois sistemas de controle da direção de uma colhedora de café para regiões montanhosas, com base em CLP e Arduino. Os dois sistemas de controle da colhedora foram avaliados e comparados em laboratório. Os sistemas foram montados na colhedora de café, e foram utilizados sensores potenciométricos para controlar a direção das rodas. O ângulo de esterçamento das rodas executado a partir de do algoritmo foi o critério utilizado para avaliação dos sistemas desenvolvidos. Durante o estudo foram considerados dois tipos de movimentos da máquina. O primeiro foi realizado com as rodas em paralelo, enquanto o segundo com as rodas em movimento curvilíneo. Para o sistema de movimentação em paralelo, foram considerados doze (12) ângulos de execução e para o sistema em movimento curvilíneo, foram considerados oito (8) ângulos de execução. O delineamento inteiramente casualizado foi aplicado na realização desse estudo, com quatro repetições para a movimentação em paralelo e cinco repetições para o curvilíneo. Para os dois sistemas foram feitas validações, sendo comparados os resultados em cada roda e em cada movimento (paralelo e curvilíneo). Os resultados mostraram uma grande exatidão para os dois sistemas desenvolvidos, quanto ao movimento em paralelo, para todas as rodas. Sendo que, o sistema CLP foi mais preciso que o sistema Arduino. Para o movimento curvilíneo, os dois sistemas apresentaram grande exatidão, praticamente iguais estatisticamente. Os resultados nos movimento em paralelo mostram que o sistema CLP e mais preciso que o sistema Arduino, sendo mais recomendado para aplicação na colhedora. Para o movimento em curvilíneo não ouve diferença estatística, assim poderá ser usado qual um dos dois sistemas.Conselho Nacional de Desenvolvimento Científico e Tecnológicoapplication/pdfporUniversidade Federal de ViçosaMestrado em Engenharia AgrícolaUFVBRConstruções rurais e ambiência; Energia na agricultura; Mecanização agrícola; Processamento de produSistema de direçãoColhedoraCaféSystem directionHarvesterCoffeeCNPQ::CIENCIAS AGRARIAS::ENGENHARIA AGRICOLAAutomação do sistema de direção de uma colhedora de caféAutomation system direction of a coffee harvesterinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/openAccessreponame:LOCUS Repositório Institucional da UFVinstname:Universidade Federal de Viçosa (UFV)instacron:UFVORIGINALtexto completo.pdfapplication/pdf1188850https://locus.ufv.br//bitstream/123456789/3656/1/texto%20completo.pdf6aeb00238faafe4deb70abdc214fd955MD51TEXTtexto completo.pdf.txttexto completo.pdf.txtExtracted texttext/plain134543https://locus.ufv.br//bitstream/123456789/3656/2/texto%20completo.pdf.txtd3f0e107bc2aad295f6209ae134e228fMD52THUMBNAILtexto completo.pdf.jpgtexto completo.pdf.jpgIM Thumbnailimage/jpeg3544https://locus.ufv.br//bitstream/123456789/3656/3/texto%20completo.pdf.jpgc61769209af89d0853e19c12ebb0960dMD53123456789/36562016-04-09 23:11:33.724oai:locus.ufv.br:123456789/3656Repositório InstitucionalPUBhttps://www.locus.ufv.br/oai/requestfabiojreis@ufv.bropendoar:21452016-04-10T02:11:33LOCUS Repositório Institucional da UFV - Universidade Federal de Viçosa (UFV)false |
dc.title.por.fl_str_mv |
Automação do sistema de direção de uma colhedora de café |
dc.title.alternative.eng.fl_str_mv |
Automation system direction of a coffee harvester |
title |
Automação do sistema de direção de uma colhedora de café |
spellingShingle |
Automação do sistema de direção de uma colhedora de café Veloso, Gustavo Vieira Sistema de direção Colhedora Café System direction Harvester Coffee CNPQ::CIENCIAS AGRARIAS::ENGENHARIA AGRICOLA |
title_short |
Automação do sistema de direção de uma colhedora de café |
title_full |
Automação do sistema de direção de uma colhedora de café |
title_fullStr |
Automação do sistema de direção de uma colhedora de café |
title_full_unstemmed |
Automação do sistema de direção de uma colhedora de café |
title_sort |
Automação do sistema de direção de uma colhedora de café |
author |
Veloso, Gustavo Vieira |
author_facet |
Veloso, Gustavo Vieira |
author_role |
author |
dc.contributor.authorLattes.por.fl_str_mv |
http://lattes.cnpq.br/5446388671333942 |
dc.contributor.author.fl_str_mv |
Veloso, Gustavo Vieira |
dc.contributor.advisor-co1.fl_str_mv |
Fernandes, Haroldo Carlos |
dc.contributor.advisor-co1Lattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4761460E6 |
dc.contributor.advisor-co2.fl_str_mv |
Valente, Domingos Sárvio Magalhães |
dc.contributor.advisor-co2Lattes.fl_str_mv |
http://lattes.cnpq.br/8080945803303151 |
dc.contributor.advisor1.fl_str_mv |
Teixeira, Mauri Martins |
dc.contributor.advisor1Lattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4783316J8 |
dc.contributor.referee1.fl_str_mv |
Monteiro, Paulo Marcos de Barros |
dc.contributor.referee1Lattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4798498J6 |
contributor_str_mv |
Fernandes, Haroldo Carlos Valente, Domingos Sárvio Magalhães Teixeira, Mauri Martins Monteiro, Paulo Marcos de Barros |
dc.subject.por.fl_str_mv |
Sistema de direção Colhedora Café |
topic |
Sistema de direção Colhedora Café System direction Harvester Coffee CNPQ::CIENCIAS AGRARIAS::ENGENHARIA AGRICOLA |
dc.subject.eng.fl_str_mv |
System direction Harvester Coffee |
dc.subject.cnpq.fl_str_mv |
CNPQ::CIENCIAS AGRARIAS::ENGENHARIA AGRICOLA |
description |
Coffee is one of the most important products exported by Brazil, it is responsible for many employments, and keeps a positive balance of trade, as well. The harvest is the most complex and expensive operation on grain production process, principally in relation to the labor. As a result, it is increasing the necessity of mechanizing.There are three types of harvest: manual, semi-manual and mechanical. The mechanical coffee harvesting decreases the labor necessary on the process, which causes reduction of production costs. However, there is not fully executable solution for mechanical harvesting in mountainous region. For this reason, the costs related to the manual harvesting are transferred to the consumers in these regions. In order to reduce the harvesting costs, many researches have been developed to adjust coffee harvesters to this type of relief. The biggest obstacles are the risk of coffee harvester tipping and the difficult to maneuver the machine.Therefore, it is necessary to build a machinery system adapted to the terrain slope and it will demand an innovative steering wheel system. The concept of automatic vehicle guidance has already happened in other types of monocrops, using electronic components associated to the agricultural machinery. All machine control systems are connected to the central command, which applies algorithms stored in the memory, to perform pre-established tasks by the operator. For example, functions of the machine such as guidance and control on the harvesting area. For this reason, there are PLC systems (Programmable Logic Controller) that use microcontrollers to control the guidance systems of agricultural machinery. Among the microcontrollers systems, the Arduino platform is highlighted due to its low cost of components and simplicity of programming language. The main objective of this work was to develop two control systems to the coffee harvester guidance, based on PCL system and Arduino platform. Both systems were evaluated and compared in laboratory. The systems were assembled in the coffee harvester and potentiometric sensors were used to control the steering wheel. The steering wheel angle run from algorithm was the criterion used to evaluate the developed system. This study considered two movements of the machine. The first was realized with tires in parallel while the second was with tires in curvilinear motion. It was considered twelve angles of execution to the parallel system motion and to the curvilinear motion was considered eight angles of execution. The entire random delineation was applied with four replications to the parallel motion and five to the curvilinear motion. Both steering wheel systems were compared through their results in each tire and motion (parallel and curvilinear). The steering wheel systems of coffee harvesters were developed and the results showed great accuracy for both systems, as much to the parallel motion as to all tires. The systems obtained great precision and were practically equals statistically on the curvilinear motion. However, the PLC system was more accurate than the Arduino system. |
publishDate |
2013 |
dc.date.issued.fl_str_mv |
2013-07-30 |
dc.date.available.fl_str_mv |
2014-05-09 2015-03-26T13:23:54Z |
dc.date.accessioned.fl_str_mv |
2015-03-26T13:23:54Z |
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info:eu-repo/semantics/publishedVersion |
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info:eu-repo/semantics/masterThesis |
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VELOSO, Gustavo Vieira. Automation system direction of a coffee harvester. 2013. 79 f. Dissertação (Mestrado em Construções rurais e ambiência; Energia na agricultura; Mecanização agrícola; Processamento de produ) - Universidade Federal de Viçosa, Viçosa, 2013. |
dc.identifier.uri.fl_str_mv |
http://locus.ufv.br/handle/123456789/3656 |
identifier_str_mv |
VELOSO, Gustavo Vieira. Automation system direction of a coffee harvester. 2013. 79 f. Dissertação (Mestrado em Construções rurais e ambiência; Energia na agricultura; Mecanização agrícola; Processamento de produ) - Universidade Federal de Viçosa, Viçosa, 2013. |
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Universidade Federal de Viçosa |
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Mestrado em Engenharia Agrícola |
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UFV |
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BR |
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Construções rurais e ambiência; Energia na agricultura; Mecanização agrícola; Processamento de produ |
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Universidade Federal de Viçosa |
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