The Hako/AMS - Autonomous Mechanisation System

The Autonomous Mechanisation System. Based on a Hakotrac 3000.

• Hako Motor
• Hako Hardware
• Hako Firmware
• Hako Control Spec

DTU Wiki-page for Hako

Safety guidelines for the use for the development of autonomous vehicles

1. Safety takes the highest priority and is the responsibility of everyone to ensure that no harm comes to people or property.
2. The Hako tractor should not be operated in automatic steering mode unless two people are present. They are the operator and the safety officer.
3. Only designated Operators shall operate the tractor and no unauthorized person shall start, switch modes or otherwise interfere with the tractor. Designated Operators are: Hans Werner Griepentrog, Claes Jaeger-Hansen.
4. The role of the safety officer is only to ensure safe conditions and have no other responsibility. The safety officer will always be equpped with the wireless emergency stop switch. If the safety officer feels that an action or operation will be unsafe then that action or operation will not go ahead until their concerns have been addressed. Any competent person can be the Safety Officer.
5. The tractor will only be operated in automatic steering mode in open areas and no closer to fixed objects than emergency stopping distance allows.
6. No one is to stand in front of, or behind the tractor while starting, changing modes or operating in automatic modes.
7. The Operator will not interact with the tractor while it is moving, apart from through the Remote Control Box. No person (including the operator) will come within 1m of the tractor while it is moving.
8. Designated Operators are: Hans Werner Griepentrog, Claes Jaeger-Hansen. They should all obtain the same skills for route-planning and for operating NAVigation Computer and vehicle as such by working as a team. Developments in any kind should be discussed and informed to the designated operators.

• Hako Engine Start Procedure
• Start MobotWare manually
• setup MARG manually(first time only)
• setup missionfiles manually
• Starting&Running Hako

we have installed and configured:

The php applet, to have the applet running correctly all of the status lights on the interface must be green. So the gps, rhd,mrc and hakoclient must be running. A major problem right now is that in the software, to be able to start the mission file from the applet, the navigationmode must be set to manual 'M' from the beginning, and only when the start button has been pressed the navigationmode can switch to automatic 'A'

Configured links to point to the right places

Configured the rhdconfig files.

What is not working:

Canbus card PCM 3680.

The problem with the PCM card was fixed. We followed the readme to the point, and installed Lincan v. 0.3.5.

Control Panel

Start a mission through the GUI

Start mission with obstacle avoidance