SMAJAYU JY305 User manual

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SMAJAYU(SHENZHEN) CO.,LTD
Precision User manual

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Catalogue
1、Introduction.................................................................................................................1
1.1 Purpose of preparation........................................................................................ 1
1.2 Reference material.............................................................................................. 1
1.3 Terms and abbreviations..................................................................................... 1
2、Software overview...................................................................................................... 1
2.1 Software purpose................................................................................................ 1
2.2 Software running.................................................................................................2
2.3 Software performance.........................................................................................2
3、Software function introduction................................................................................... 3
3.1 Interface display and hiding function................................................................. 3
3.1.1 Day night mode........................................................................................3
3.1.2 Camera..................................................................................................... 4
3.1.3 Satellite.................................................................................................... 4
3.1.4 Base station status and differential delay.................................................5
3.1.5 Deviation from ab line error.................................................................... 5
3.1.6 Real time operation speed........................................................................6
3.1.7 Width of agricultural tools....................................................................... 6
3.1.8 Time display.............................................................................................6
3.1.9 Network operators and signal strength and hotspot connections.............6
3.1.10 Current job name and job type...............................................................6
3.1.11 Head up or top view angle switching.....................................................6
3.1.12 Quick positioning...................................................................................6
3.1.13 Working area.......................................................................................... 6
3.1.14 Equipment status display and self-inspection........................................7
3.1.15 System....................................................................................................7
3.1.16 Informa ionize........................................................................................7
3.1.17 Farm tools.............................................................................................. 7

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3.1.18 AB line................................................................................................... 7
3.1.19 Manual record shortcut button...............................................................8
3.1.21 Sensitivity shortcut button..................................................................... 8
3.1.22 Autopilot switch button..........................................................................8
3.1.23 Warning prompt..................................................................................... 8
3.2 State.................................................................................................................. 10
3.3 System...............................................................................................................10
3.3.1 Satellite settings..................................................................................... 10
3.3.2 Farm tool management.......................................................................... 12
3.3.3 Autopilot................................................................................................ 13
3.3.4 System settings...................................................................................... 17
3.4Informatization...................................................................................................20
3.4.1 User information.................................................................................... 20
3.4.2 Equipment information.......................................................................... 20
3.4.3 Job statistics........................................................................................... 21
3.5 AB line.............................................................................................................. 21
4、Use process and specification................................................................................... 24
4.1 Information entry and registration.................................................................... 24
4.2 Vehicle parameter entry.................................................................................... 25
4.3 Select base station and connect.........................................................................25
4.4 Automatic driving commissioning....................................................................25
4.5 Automatic driving use.......................................................................................26

SHANGHAI ALLYNAV TECHNOLOGY CO., LTD.
The previous automatic driving software can be widely used in sowing, ploughing,
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1、Introduction
1.1 Purpose of preparation
The purpose of writing this operation manual is to fully describe the functions and
operating environment of the software, so that users can understand the scope and
method of use of the software, and provide necessary information for software
maintenance and update.
1.2 Reference material
None.
1.3 Terms and abbreviations
Sensitivity: equivalent to the line stability coefficient of the previous automatic
driving software. It mainly adjusts the motor sensitivity. The higher the value setting,
the more sensitive the motor rotation is, and the lower the value, the less sensitive it is.
Confidence degree: different values can be selected for the confidence degree,
which mainly adjusts the sensitivity of the gyroscope. The smaller the set value, the
higher the sensitivity. Generally, the default value is 0.01.
Automatic calibration: mainly calibrate azimuth offset.
Slope correction: real time correction of roll.
Speed limit threshold: the maximum speed allowed under automatic driving mode.
If it exceeds, automatic driving will be released. The adjustment range is 0-50km / h,
and the default is 20km / h.
Flow control: GNSS intelligent spray control system.
2、Software overview
2.1 Software purpose

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ditching, ridging, spraying, transplanting, land consolidation, harvesting and other
operation scenarios, but it can only correspond to one operation mode. The
development of this software is to integrate multiple software into one software
without installing multiple software. In this way, different operations can be carried out
with only one software, and operations can also be combined, For example, two
different jobs are operated simultaneously with one software.
2.2 Software running
The hardware environment of the software: Android 4 or above tablet (mobile)
devices, and the software environment: exlipse and Android studio environment. After
the software is installed, you can directly click the corresponding icon to enter the
software.
2.3 Software performance
①Response speed of software simple page operation (simple operation of adding,
editing, deleting and viewing details), time ≤ 1s；②Response speed of complex page
operation (complex display, list, configuration and other interfaces), time ≤ 1s；③The
software runs continuously without jamming within 24 hours.

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3、Software function introduction
3.1 Interface display and hiding function
3.1.1 Day night mode
Switching between day mode and night mode, the default is day mode.

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Number of nearby satellites, hiding function: View star map and signal-to-noise
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3.1.2 Camera
When the camera is turned on or off, it is turned off by default. Zoom in on the
full screen button and the camera can be turned off at the secondary point.
3.1.3 Satellite

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ratio.
3.1.4 Base station status and differential delay
Current equipment and base station connection status and differential delay.
Hide function：Click to quickly jump to the base station connection.
3.1.5 Deviation from ab line error

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Real time display of work area during operation (can also be turned off), hidden
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When automatic driving is on, the deviation error of the vehicle from the AB line is
displayed in real time.
3.1.6 Real time operation speed
Real time speed monitoring and hiding function when the vehicle is running:
Click to jump to the system setting and set the speed limit threshold.
3.1.7 Width of agricultural tools
After adding farm tools, the width of the set farm tools will be displayed.
3.1.8 Time display
Time display in the format of hours, minutes and seconds.
3.1.9 Network operators and signal strength and hotspot connections.
For the display of network operators and network signal strength used by
the tablet, only one card is displayed.
3.1.10 Current job name and job type
Display and hide the current job name and job type after
creating line AB / job: Click to modify the job type and crop type.
3.1.11 Head up or top view angle switching
Switch the head up or top view of the operation interface according to personal
needs during operation.
3.1.12 Quick positioning
When the vehicle and ab line disappear and cannot be seen, click to quickly
return to the center of the screen.
3.1.13 Working area

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function: long press to delete the track, clear the current work area, and change the
work line name to the current default line name.
3.1.14 Equipment status display and self-inspection
Real time display of equipment status and self inspection function of
equipment.
3.1.15 System
The various settings of the device include satellite settings, farm implements
management, automatic navigation, intelligent spray, system setup, hidden function:
long press can push out or turn off the automatic driving shortcut button, including
sensitivity, farm implements management, manual record button and operation area.
When the traffic flow is opened, there will be a quick function of the flow can be
switched off or off.
3.1.16 Informa ionize
Including user information, equipment information and job statistics.
3.1.17 Farm tools
This is the shortcut button of farm tool setting on the interface, which can be
closed.
3.1.18 AB line
It is used for automatic driving straight line, curve and path setting operation
line.

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3.1.19 Manual record shortcut button
It is used to record the track manually. When this button is turned on, there will
be no track generation when autopilot is turned on. Only when it is turned on can there
be track generation.
3.1.21 Sensitivity shortcut button
That is, it is equivalent to the previous line stability coefficient.
3.1.22 Autopilot switch button
Used to start or end autopilot。
3.1.23 Warning prompt
It includes the connection between the base station and the network, as well as the
hardware connection. See the following table for details. Hidden functions: in case of
base station warning, clicking the warning will jump to the base station connection, in
case of other warning, clicking the warning will jump to the equipment status, and
clicking self inspection can check the problem.
Category
Prompt content
Problem description
Problem causes
Solution
Base station and
network
No satellite data
The number of satellites
is 0
1.GNSS antenna is not
connected
2.The GNSS line or
GNSS antenna is
damaged
3.The vehicle is indoors
or heavily blocked
1.Connect the GNSS
antenna
2.Replace the
corresponding
equipment
3.Drive the vehicle to an
open area
Base station and
network
No network
1.Single point state
2.Tablet without internet
1.Poor network signal
2.The network antenna
is not connected
1.Drive the vehicle to a
place with good network
signal

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3.The network antenna
is damaged
2.Check if the network
antenna is well
connected
3.Replace the network
antenna
Base station and
network
Abnormal orientation
data
No heading information
1.The right GNSS
antenna is not connected
2.The GNSS cable or
GNSS antenna is
damaged
3.The vehicle is indoors
or heavily blocked
1. Connect the GNSS
antenna
2. Replace the
corresponding
equipment
3. Drive the vehicle to
an open area
Base station and
network
The base station is not
connected
No base station data is
received when the
network is normal
1.No base station
selected in network
service mode
2.Radio base station
problem or no network
in D21 mode
3.Not logged in in
CORS mode
1. Connect to the base
station
2. Check the radio base
station/D21
3. Log in to CORS
Base station and
network
Poor signal quality
Floating, pseudorange
1. Too far away from the
base station
2.The current
environment occlusion
3. Obstacles blocking
the base station
1.Connect to a base
station that is closer
2.Drive to the open area
3.Connect to other base
stations nearby
Base station and
network
Breakpoint to continue
line 300 (countdown)
Differential delay
exceeds 300S
No base station data
1. Check the network
2. Change to connect to
other base stations
nearby
Hardware connection
The motor is not
Prompt when there is no
1.Poor contact of the
1.Replacement of main

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connected
motor heartbeat data
main wiring harness
2. There is a problem
with the power switch
wiring harness
2. Replace the switch
3. Restart the device
Hardware connection
IMU is not connected
No gyro data
1.Gyro damage
2.Cable failure
1. Replace the gyro
2. Replace the cable
Hardware connection
Angle sensor is not
connected
No angle sensor value
1.Cable failure
2.Angle sensor failure
3. The angle sensor is
out of the measurement
range
1. Replace the cable
2. Replace the angle
sensor
3. Adjust the position of
the angle sensor
3.2 State
When it is turned on, the equipment status will be displayed, including software
version, longitude and latitude, motor related, etc. if there is a problem, self-inspection
can be carried out to check the problem.
3.3 System
3.3.1 Satellite settings
3.3.1.1 Base station connection
Mode selection ：There are three modes: network service, external communication

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module (D21 / D10) and CORS. The mode of use: network service is to connect to the
network base station. When connecting, first click refresh, and then select the base
station close to the connection; The external communication module is the radio base
station. When using the radio base station, you can select the channel, read and set the
radio frequency; The CORS mode needs to log in to the CORS account. Enter the
account and click log in. It can be used after success.
3.3.1.2 Receiver settings
At present, there are two functions of receiver type and breakpoint endurance. Five
receiver types can be selected: T100 all-in-one dual antenna, T100 all-in-one single
antenna, R21, r70 and analog data. Breakpoint endurance is enabled by default. Data
output port and data output baud rate are none by default.

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3.3.2 Farm tool management
Agricultural tool setting：Click the current agricultural tool to add agricultural tools,
and click the plus sign in the window to add. After adding the name, you can set the
parameters of agricultural tools and modify the operation / crop type.
Farm tool correction: there are three methods, and the specific operation steps are
described in detail on the page.

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3.3.3 Autopilot
3.3.3.1 Navigation settings
Sensitivity ：That is, the line stability coefficient of the previous automatic driving
software. The higher the value is set, the more sensitive the motor rotation is, and the
lower the value is, the less sensitive it is.
Slow mode：This is used for low-speed operation.
Slope correction ：It is turned on by default, and real-time correction of rolling can
improve the operation accuracy, especially when the slope ground condition is bad.
Automatic calibration：It is on by default. It is used to calibrate the azimuth offset of
single and double gyroscopes in real time and improve the straightness level of the
vehicle. If it is the angle sensor mode, it is recommended to turn it off after debugging.

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3.3.3.2 Motor setting
Motor speed：The speed of the motor correction speed. The larger the speed, the faster
the correction, and the smaller the speed, the slower.
Motor control mode ：Including speed control and position control. The default is
speed control.
Manual release sensitivity ：The difficulty of manually releasing navigation. The
larger the value, the more difficult it is to release, and the smaller the value, the easier
it is to release.
Firmware update：The motor firmware version can be upgraded online on v2320 and
later software. If there is new firmware, clicking firmware upgrade will prompt "the
latest motor firmware version is detected, whether to upgrade". After confirmation, the
upgrade progress bar will appear. After the progress bar is completed, it will prompt
"upgrade succeeded".

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3.3.3.3 Vehicle management
Current vehicle：Click to add different vehicles or import vehicles from the database,
including vehicle type, brand, model and vehicle model. Hiding function: long press
the tractor in the list to delete vehicles. Long press to delete vehicles when there are
many vehicle information or vehicles with errors.
After adding the vehicle, you can enter the vehicle parameters and select the sensor

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type.
3.3.3.4 Vehicle commissioning
Sensor calibration：This function is available only in the mode of attitude sensor and
non-contact angle sensor. It will not appear in the mode of angle sensor and encoder.
Click calibration during commissioning, wait for the progress bar to finish, and the
calibration is completed when the confidence is calibrated. (Different values can be
selected for the confidence degree, which mainly adjusts the sensitivity of the
gyroscope. The smaller the set value, the higher the sensitivity. Generally, it defaults to
0.01)

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Repeat line commissioning：During commissioning, operate in sequence according to
the steps and legend.
3.3.4 System settings
3.3.4.1 System settings
Speed limit threshold：The maximum speed allowed in the automatic driving mode
will be released when it is exceeded; The adjustment range is 0 ~ 50km / h, and the
default is 20km / h.