Initially this was a request given to me from my employer at Hyland Farms. After doing some research I turned this into a full personal project, putting in hours of research into the requirements of the hardware and software needed to steer a tractor. From this project I was able to get experience with open-sourced tools such as AGOpenGPS, and hardware including GPS, sensors, and motors.
The Problem
Field work is can be perceived as relatively simple work that takes minimal effort. This is not the case for many reasons:
- Inexperienced drivers may struggle to maintain a steady line.
- Rocks, rough fields, fatiue, and distractions can cause even the best drivers to lose their line.
- Making smooth turns in large tractors with large implements on uneven ground is difficult for anyone.
What Solutions Exist on the Market?
The most commercially available solutions come from tractor manufacturers and distributors. These auto-steering solutions are often designed to fit specific tractors, even lacking compatiblity between different years or models from the same company. Additionally, there is a large cost associated with these devices and the installation. For my employer, these challenges made auto-steer seem undesirable, resulting in the decision to continue with manual steering.
What did I create?
I created two solutions, but both follow the same premise: to be safe, affordable, and universal. I built these with the help of the work done by the AGOpenGPS community and their tools. AGOpenGPS is an open-source platform for precision agriculture, helping farmers to use GPS-based auto-steer using readily-available components for affordable pricing.
From their documentation as well as my own research I was able to piece together the components needed. I opted for a single GPS setup with an IMU to handle pitch and roll with the precision required to manuever a field accurately. Additionally, mechanical switches to enable or disable steering, wheel angle sensors, and the ability to use either over-steering-wheel motors or hydraulic valves were integrated into the system I built.
The Results
I built two systems for two different tractors, both from Case. One used an EZ-Steer over-steering-wheel motor which my employer had previously purchased. The other had an existing hydraulic valve system and wheel angle sensors, but lacked an auto-steer solution. Both systems were installed and after troubleshooting and testing, were ready for field-use. I am overall very proud and excited at the thought of my work being used in the field!
A Few Highlights
