Browsing by Subject "Arduino"

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  • Sarvela, Konsta (Helsingin yliopisto, 2020)
    The purpose of this thesis was to design, build and test a system, which is capable of measuring in real time simple quantities influencing on tire-soil contact of agricultural tractors mobility. The measuring equipment is based on acceleration and distance sensors connected to the Arduino Uno microcontroller. The tractor’s CAN bus was logged and the data was saved using a CAN bus card connected to a Raspberry Pi minicomputer. The sensors were calibrated, and their sensitivity checked before performing the experiments while driving in the field. Accelerometers were placed on top of the rear axle of the tractor at both ends in housings printed for them and distance sensors were mounted behind the rear axle. All sensors were logged by using Raspberry's Raspbian operating system with a python program. The Raspberry was chosen as a computer because of its demanding low space, low cost, and versatility of interfaces. The properties of the field were monitored by monthly penetrometer measurements as well as SoilScout sensors embedded in the ground, which indicated the moisture and temperature of the ground at that depth in real time. The purpose of this was to find out the changes in the field during the growing season, which would also affect the tractor's mobility. The measurement were carried out successfully and the result were considered to be reliable and provide many other opportunities for the future. The results clearly indicated the factors influencing the tractor’s mobility and the different stages of the tillage could be recognized. Future challenges remain the filtering of large amounts of data and the application of measuring equipment in further research. The measurement equipment developed in the work is well suited for its purpose in terms of measurement accuracy and economical affordability. In the future, better accuracy could be achieved with more accurate measuring devices as well as data obtained from this work.