48.

ACTUAL
TASKS ON Original scientific paper
AGRICULTURAL
ENGINEERING

AUTOMATIC STEERING OF COMBINE HARVESTER

FOR AGRICULTURAL AND ENVIRONMENTAL
MONITORING
Eglė JOTAUTIENĖ*, Antanas JUOSTAS
*
E-mail of corresponding author: egle.jotautiene@vdu.lt
Institute of Agricultural Engineering and Safety, Agriculture Academy, Vytautas Magnus University,
Studentu str. 15A, Akademija, 48005 Kaunas District, Lithuania

ABSTRACT
Some individual technological processes of modern agricultural machines
already controlled by different automatic systems. One of them is automatic
steering of combine harvester. Its most widely used system in precision
harvesting. Automatic steering system is a complex combination of various
components, where decision-making and operation carried out by electronics
and machinery. Such systems can estimate and control preselected separation
and grain cleaning losses, threshing drum load, engine load, grain layer
thickness in a feeder house conveyor, and other machine operating parameters.
The aim of the study is to determine the benefits of an automatic steering
system for a combine harvester at a farm. The obtained results showed that it
is expedient to use automatic driving in grain harvesters when harvesting grain.
When automatic steering was used, the fuel consumption was by 32 ± 2.3 %
lower than with manual steering. Combines with manual steering mode at
headlands in average spent 7.7 % of total combine harvesting time. The
combine harvester operating data, collected in Telemetry system, successfully
can be used for agricultural and environmental monitoring and decision-
making.
Keywords: automatic steering, combine harvester, telemetry system,
headland, time distribution.

INTRODUCTION
Farmers using the modern techniques and farming technologies want to make sure that it
not only performs technological processes in a quality way but most importantly does not
harm the soil. Machines for proper operation in different soil types, under different climatic

48 th Symposium "Actual Tasks on Agricultural Engineering", Zagreb, Croatia, 2021

51
 E. Jotautienė, A. Juostas

and crop conditions, it is important to properly adapt and optimize the settings of these
machines (Craessaertset et al., 2010).
Modern technologies make it possible to install automatic steering systems in many self-
propelled agricultural machines, including combine harvesters. Self-propelled machines can
be steered by mechanical sensors, optical sensors or satellite driven GPS signal. Automatic
steering systems controlled by mechanical and optical sensors no longer require additional
costs. These automatic steering systems no longer require additional costs to maintain a
corrective signal, and optical sensors control a driving accuracy of up to ± 5cm. The accuracy
of the work also influenced by soil preparation, field hilliness, etc. Therefore, there should be
no large clods of soil and the soil structure should be similar to that prepared for sowing.
(EASY on field, 2015).
The automatic machine steering system with optical sensors significantly optimizes
production costs. This type of automatic steering system allows a more rational use of the
available equipment and its implements for the performance of technological processes in
agricultural work. At the same time, a larger field area is prepared, as well as no need for
drivers with a high level of driving skills (Šumanovac et al., 2007). When driving with
automatic steering systems, the driver can spend more time setting the implement parameters
and adapting the machine to the current conditions. Even in bad weather conditions such as
dust, fog, etc., working in hilly or wooded areas would always use the full width of the
implement. It is very easy to return to automatic driving mode when you take over manual
driving when you are trying to get around poles, wetlands or other obstacles.
Optical control systems can use steering with laser sensors or steering with cameras. With
the help of these sensors, the control of the machines can be oriented according to the edge of
the crop, the technological line, the furrow made by the marker, the swaths made by grass or
cereals, and so on (Baillie et al., 2018).
Driving with optical sensors is very useful and facilitates the work process when working
with wide combine harvesters, at high speeds or poor visibility. Harvesting significantly
reduces the work stress for the driver. This maintenance-free optical sensor, at an angle of 6º
in the horizontal plane, continuously sends invisible light signals to the left and right, thus
recognizing the set field parameters for precise driving (EASY, 2014). The edge of growing
plants and stubble reflects a ray of light. The sensor measures the return time of the reflected
light and thus determines the exact boundary between cut and uncut plants. The machine
automatically driven along this plant boundary with an accuracy of up to 10 cm. Such a field
edge tracking system is extremely reliable even when removing stubborn grain or working on
slopes. This system requires no additional service or maintenance (EASY, 2014).
The most modern combines are also equipped with automatic cruise control systems. Such
a system selects the driving speed according to the set controlled parameters and continuously
adjusts it. This system monitors the working speed by evaluating parameters such as: grain
loss in the straw separation and cleaning systems, as well as the threshing system and engine
load, the height of the grain delivered to the feed rake conveyor and the parameters of other
sensors installed in the combine (Craessaertset et al., 2010).
The automatic ground speed system changes the driving speed depending on the grain
yield, environmental conditions and other factors to ensure a constant supply of crop flow to
the threshing mechanism. The operation of these systems is ensured by the control and

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 Automatic steering of combine harvester for agricultural and environmental monitoring

monitoring of hydraulic and electrical systems (Miu, 2015). This and other automatic process
control systems designed to take full advantage of the combine's capabilities.
Short harvesting periods and often-inappropriate control conditions for automatic systems
make it difficult accurately to control combine parameters (Delchev et al., 2016). Therefore,
scientists are studying the operation of these systems in a variety of ways. Redenius et al
investigated the possibilities of improving the control of automatic steering system
parameters. A 3D imaging laser scanner and a virtual harvesting environment used for the
research. Studies have shown that 3D scenario and sensor modelling are powerful tools for
achieving environmental goals in agriculture (Redenius et al., 2019).
The results of experimental studies show that combine harvesters equipped with automatic
steering systems use diesel more efficiently, the average cost of the combine reduced by 0.2 t
per year and the emissions of the combine's combustion reduced by 0.6 t per year on average.
It was found that the data of the telemetry system can be effectively used to identify problem
areas and make decisions on pollution prevention and optimization of combine harvesters
(Savickas et al., 2020).
In this work, experimental studies performed under real conditions at a farmer’s organic
farm in order to maximize the benefits of usage of an automatic steering system for a combine
harvester.

MATERIALS AND METHODS

For the research, a combine harvester with an automatic steering system used. The
information collected with the help of a telemetry system. The study used a CLAAS Lexion
770 TT (Terra Track) combine with a Convio Flex 10.5 m cutterbar. Lexion 770 TT - crawler
combine with a track width of 735 mm. Combine equipped with:
- Mercedes-Benz 585 HP T4 exhaust-compliant engine,
- 1150 l fuel tank, S7 automatic steering system display with SATCOR 15 correction
signal,
- 5-year Telematic system license, full automatic threshing,
- straw separation and grain cleaning CEMOS AUTOMATIC system,
- grain quality camera,
- 2 straw separation rotors,
- 13,500 l grain tank and other equipment.
Comparative runs performed by harvesting in 3-4 fields of different size. The most
characteristic fields of different sizes and shapes of 15-58 ha selected. Comparative harvesting
performed with the combine driving with automatic steering and with manual steering. Winter
wheat harvested in the study fields.
In Lithuania, sowing usually carried out by using automatic steering. Therefore, during
harvesting when the combine operated manually, the tramline usually selected for straight-
ahead driving. Because the RTK correction signal used in the linear sowing, the GPS lines
made during the sowing transferred to the combine's parallel steering system. This was
possible because the combine was equipped with appropriate systems that not only allowed
this data received, but also used for straight-ahead automatic steering during harvesting.

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 E. Jotautienė, A. Juostas

In the absence of automatic steering synchronization, at the beginning of the selected

driving pattern, the operator selects the AB line mode for straight-ahead steering in the
automatic steering display. After that, travel point A selected.

Figure 1 Schematic of parallel automatic steering by using AB straight-line mode

The harvesting started by running the combine parallel to the technological lines. The
minimum distance required to mark point B of straight-ahead driving (AB line) is at least 20
m. After driving more than the specified distance and placing point B, the automatic steering
system, with the help of satellites, divides the field into parallel lines according to the set
working width of the combine. From this moment on, the combine operator activates the
automatic steering function, enabling the combine to drive in the direction of scratched lines.
Driving errors are possible after driving more than 20 m and selecting parallel driving mode.
The consequence is to move away from the parallel technological line. To avoid this, operators
usually choose the B point at the end of the field. This ensures accuracy for subsequent run
on parallel lines. Harvesting carried out at the headlands with the combine driving every
second pass.
Harvested field yields and passages recorded and stored on the microprocessor of the
combine’s navigation system.

RESULTS AND DISCUSSION

Data for research analysis selected from the data stored in the combine's telematics system.
The system stores various machine data sets: exact machine location, work dates, downtime,
combine operating parameters, and other. The combine worked in three fields with the
automatic steering system activated. These fields are marked EJ1 (21 ha), EJ2 (32 ha), EJ3
(58 ha), respectively. In addition, in three fields with manual steering, where the fields marked
- EJ4 (38 ha), EJ5 (45 ha), EJ6 (15 ha). As in practice, it is almost impossible to find fields of
the same area or configuration, the following parameters chosen for the analysis: fuel
consumption per hectare and grain tons. Figure 2 shows diagrams of fields harvested using

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 Automatic steering of combine harvester for agricultural and environmental monitoring

automatic steering. The fields provided are of complex configurations, especially in the
headlands (Fig. 2). When the fields are almost in regular shape, the automatic steering lines
are longer and the length of the reversal trajectories at the headlands reduced. Comparing the
length of driving lines in kilometres per ha, it can be noticed that the average length of lines
using automatic steering was 1.21 km. A constant distance of 10.5 ± 0.25 m maintained
between the lines. In the case of irregularly shaped fields, an example of which shown in
Figure 2, EJ3 the length of the guidelines is different. As the combine performed headland
revolutions at the second pass, the minimum headland reversal and the number of headlands
crossing reduced.

EJ EJ EJ
Figure 2 Field diagrams when the combine is working with automatic steering

The field configurations when the combine driven manually shown in Figure 3. Although
a similar distance of 10.5 ± 0.25 m maintained between the lines as in the case of automatic
steering. However, it is difficult to keep the driving lines parallel, as it is difficult for the
operator to follow the edge of uncut cereals accurately in many operations at once. Comparing
the lengths of the driving lines (km) per ha, it can be noticed that without the use of automatic
steering, the average length of the lines was 1.46 km. Without the use of the automatic steering
function, the average length of the lines, compare when automatic steering system used,
increased by 0.25 km or 17 %.
The length of the combine's turn trajectories at the headlands has increased significantly
as the combine has to turn around at the headland and drive back to the edge of the previously
cut crop field. In Figure 3 EJ6, we see the obvious differences in the shapes of both manual
(marked by RED lines) and automatic steering lines (marked by GREEN lines). Unplanned
driving strategies in a field creates additional field run, which additionally compacting the
soil, thereby reducing soil fertility.
One of the most accurate and efficient automatic driving options is the straight-line AB
line. The advantage of this driving method is that it is convenient and easy to work in a straight
line, such as unloading the grain hopper without stopping the combine, following the parallel
driving next to the forage harvester, and for other works. For trailers driving near the combine
when unloading grain, it is easy to keep track of the distance to the edge of the uncut grain or
the combine harvester.

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 E. Jotautienė, A. Juostas

EJ EJ EJ
Figure 3 Field diagrams EJ4, EJ5, EJ6 when the combine is controlled by the operator,
manually

A structural analysis of working time performed from the processing data collected in the
processors of the combine harvest. Studies have shown that the efficiency of the combine
significantly depends on the organization of the work process. The data collected by telemetry
allow analyse the structure of working time. It was found that the combine devoted from 35
to 57 % (Fig. 4) of the total day working time to the technological process. Travel time for
crossings from one field to another took from 5 to 15 %, parking on a full bunker from 1 to
12 %. In addition, a significant part of the time is occupied by parking the combine is from 6
to 14 %. Data on the distribution of working time showed that two-thirds of the combine
working time used for technological harvesting. After analyzing all the components of
working time, it is possible to predict which of them could be optimized. One of those parts
would be to reduce driving time. Reducing the number of parking times, from outdoor to
outdoor, would also reduce fuel consumption. Research shows that there is a strong and direct
correlation between engine operating time and fuel consumption (Savickas et al., 2020).

Figure 4 Working time structure of EJ1 and E4 fields.

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 Automatic steering of combine harvester for agricultural and environmental monitoring

Figure 5 Combine working time structure

Combines driven by automatic steering systems harvesting performed by entering in each

second or even each third pass. Therefore, the time spent for turning at headlands differ as
well. From Figure 5 seen that combines (EJ1, EJ2 and EJ3) driving with manual steering mode
at the headlands in average spent 7.7 % of total combine harvesting time. Therefore, the
combines (EJ4, EJ5 and EJ6) with automatic steering mode at headlands spent 93 % less then
with manual steering.
When analysing fuel consumption, in account should be taken that the fields were different
and of different configurations. However, according collected data such as fuel consumption
per tonne per hectare, a comparative analysis can be performed. This is very important
because scientists claim that the irrational use of combine harvesters has a significant impact
on GHG emissions (Savickas et al., 2020). The automatic steering system closely linked to
grain spreading, straw spreading and grain cleaning operations. A very important aspect is the
link with fuel consumption to the tons of harvested grain, which can serve an indicator of
environmental pollution. Figure 6 shows the fuel consumption of the combine. It can be
observed that during harvesting, using the automatic steering system, fuel consumption varied
from 18.86 to 22.08 l ha-1. When harvesting using manual driving mode, fuel consumption
varied from 24.85 to 31.92 l ha-1. The results show the advantage of automatic steering, as
fuel consumption is 32 ± 2.3 % lower than with manual steering.

Figure 6 Combine fuel consumption at different fields

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 E. Jotautienė, A. Juostas

The analysis of fuel consumption per ton of grain used, it can be seen that both the use of
automatic driving and driving manually they were similar. With automatic steering, fuel
consumption varied from 2.41 to 3.9 l t-1. When driving manually, they varied from 2.86 to
3.85 l t-1. The results show the advantage of automatic steering, as fuel consumption is 4.49 ±
0.3 % less than with manual steering.

CONCLUSIONS
The use of automatic steering ensures more precise driving in the field. When harvesting
performed by manual driving mode, fuel consumption varied from 24.85 to 31.92 l ha-1.
Compared with automatic steering fuel consumption was by 32 ± 2.3 % lower than with
manual steering.
Using automatic steering mode, the headland turns took less time compare to manual one.
Combines with manual steering mode at headlands in average spent 7.7 % of total combine
harvesting time. Therefore, the combines with automatic steering mode at headlands spent
93 % less then combines with manual steering.
The combine harvester operating data, collected in Telemetry system, can be used for
agricultural and environmental monitoring.

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