• Title/Summary/Keyword: Agricultural Tractor

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Effect of tractor travelling speed on a tire slip

  • Kim, Yeon Soo;Lee, Sang Dae;Kim, Young Joo;Kim, Yong Joo;Choi, Chang Hyun
    • Korean Journal of Agricultural Science
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    • v.45 no.1
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    • pp.120-127
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    • 2018
  • The rural labor force has gradually been decreasing due to the decrement of the farm population and the increment of the aging population. To solve these problems, it is necessary to develop and study autonomous agricultural machinery. Therefore, analyzing the dynamic behavior of vehicles in an autonomous agricultural environment is important. Until now, most studies on agricultural machinery, especially on ground vehicle dynamics, have been done by field tests. However, these field test methods are time consuming and costly with seasonal restrictions. A research method that can replace existing field test methods by using simulations is needed. In this study, we did basic research analyzing the effect of the travelling speed of a tractor on tire slip using simulation software. A tractor simulation model was developed based on field conditions following a straight path. The simulation was done for three ranges of speed: 20 - 30 km/h (considered the normal travelling speed range), 6 - 8 km/h (considered the plow tillage speed range) and 2 - 4 km/h (considered the rotary tillage speed range). The results of the simulation show that the slip ratio and slip angle values tended to increase as the traveling speed range of the tractor decreased. From the simulation results, it can be concluded that at low tractor speeds, it becomes more difficult to control the vehicle path. In future research, simulations will be done with various work environments such as a curved path as well as with various friction coefficient conditions, and the simulation results will be experimentally verified by applying them to an agricultural tractor.

COMPUTER SIMULATION OF TRACTOR PERFORMANCE WITH REGARD TO ENERGY SAVING AND POLLUTION REDUCING

  • Zou, Cheng;Sakai, Jun;Nagata, Masateru
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • 1993.10a
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    • pp.1110-1116
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    • 1993
  • A study on optimum operation performances of power efficiency, economy and exhaust emissions for a tractor was conducted. A mathematical model of multiple degree polynomial equation was applied to established the function of solid multiple parameter curves for specific fuel consumption (ge), cabon monoxide (CO) ,hydrcarbons (HC) and cabonaceous smoke (Rb). The optimum operation theorems for economy operation indicated by ge and for exhaust emissions described by Co , HC and Rb were obtained from analytical method and performance test data. The optimum operation theorems could exhibit optimum operation working points, curves, and regions. The optimum matching relations of engine speed and transmission parameters were analyzed by using computer simulation methods in accordance with the tractor specifications , actual farm working conditions in a typical drawbar pull work such as plowing , the optimum operation objective function, the ideal transmission ratio, practical gear shif ing positions and practical travel speed of the tractor TN55 medel. The results of the anlayzes indicated clearly that the optimum power efficient operation, energy saving and pollution reducing would be realized if the tractor would be operated according to theoptimum operation methods.

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A Study on Design Standard for Paddy Field Ramp (수도 포장진입로의 설계기준에 관한 연구)

  • 김병갑;이중용;신승엽;김학주;이용복
    • Journal of Biosystems Engineering
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    • v.26 no.6
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    • pp.517-524
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    • 2001
  • Steep and narrow ramp installed in the paddy field makes it difficult and sometimes dangerous to drive agricultural machines on it. Because agricultural machinery become larger and heavier, it is necessary to revise design standard for ramp to provide safe travel. This study was conducted to revise the design standard fur paddy field ramp, especially for its width and slope. A mathematical model predicting travelling path of a tractor on paddy field ramp and farm road was developed and simulated. To verify this model, field tests were carried out. The model could predict trvelling path with RMS Error of 12.5cm and 8.2cm, which were judged to be adoptable fur determining the width of paddy field ramp. By applying this model to 110ps tractor, which was assumed to be the largest tractor in Korea, width of paddy field ramp was determined as over 3.6m. The slope of paddy field ramp, which provided tractor with 10% of the total weight of the tractor and the mounted implement as reaction force at front wheel against ground was analyzed by considering weight transfer effect on a ramp. The result showed that adequate slope of paddy field ramp was 14°.

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PRELIMINARY STUDY ON AN AUTOMATIC PROPELLANT SYSTEM FOR IMPROVING TRACTIVE PERFORMANCE OF TRACTOR

  • Hong, Tiansheng;Shao, Yaojian
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • 1993.10a
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    • pp.801-809
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    • 1993
  • This paper presents the design of an automatic propellant system model in order to improving tractive performance of tractor. The theoretical basis of automatic control , the characteristics and function of the system, and the kinematic analysis are also discussed.

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Demand and Supply Trend of Agricultural Machinery

  • Shin, Seung-Yeoub;Kang, Chang Ho;Kim, Byounggap;Kim, Yu Yong;Kim, Jin Oh;Lee, Kyou-Seung
    • Journal of Biosystems Engineering
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    • v.38 no.4
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    • pp.248-254
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    • 2013
  • Purpose: This study was performed in order to obtain basic data for policy development and R&D to sharpen competitiveness in domestic agricultural machinery industry by analyzing the recent status of demand and supply for tractor, rice transplanter(riding type), and combine. Methods: Basic data from 199,275 units of tractor, rice transplanter (riding type), and combine was offered by the National Agricultural Cooperative Federation and Korea Agricultural Machinery Industry Cooperative. Those agricultural machines were supplied by the government's loan support from 2003 to 2012. Results: Recent supply of tractor is only 13,000 units or so per annum, thereby being stagnated. Rice transplanter and combine in 2012 corresponded to 3,810 units and 2,490 units, respectively. The domestic market share of the imported agricultural machinery accounted for 60.0% in tractor, 99.5% in saddle rice transplanter, and 80.9% in combine, thereby having been sharply increased 33.1%p, 42.0%p and 53.6%p compared to the ones in 2003. Life spans of tractor, combine and saddle rice transplanter are 3.7, 3.7 and 4.2 years, respectively. Among the discontinued models, the one less than 300 units supplied was occupied up to 70~85%. Conclusions: The domestic demand and the export expansion are needed through developing a model of agricultural machinery of having competitiveness to domestically activate agricultural machinery industry.

Analysis of the axle load of an agricultural tractor during plow tillage and harrowing

  • Hong, Soon-Jung;Park, Seung-Je;Kim, Wan-Soo;Kim, Yong-Joo;Park, Seong-un
    • Korean Journal of Agricultural Science
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    • v.43 no.4
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    • pp.665-669
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    • 2016
  • Analysis of the load on the tractor during field operations is critical for the optimal design of the tractor. The purpose of this study was to do a load analysis of an agricultural tractor during plowing and harrowing. First, a load measurement system was developed and installed in a 71 kW agricultural tractor. Strain-gauges with a telemetry system were installed in the shaft located between the axles and the wheels, and used to measure the torque of the four driving axles. Second, field experiments were conducted for two types of field operations (plowing, harrowing), each at two gear levels (M2, M3). Third, load analysis was conducted according to field operation and gear level. At M2 gear selection for plowing, the maximum, minimum, and average (S. D.) torque values were 13,141 Nm; 4,381 Nm; and 6,971 Nm (${\pm}397.8Nm$, respectively). For harrowing, at M2 gear selection, torque values were, 14,504 Nm; 1,963 Nm; and 6,774 Nm (${\pm}459.4Nm$, respectively). At M3 gear selection for plowing, the maximum, minimum, and average (S. D.) torque values were,17,098 Nm; 6,275 Nm; and 8,509 Nm (${\pm}462.4Nm$, respectively). For harrowing at M3 gear selection, maximum, minimum, and average (S. D.) torque values were, 20,266 Nm; 2,745 Nm; and 9,968 Nm (${\pm}493.2$). The working speed of the tractor increased by approximately 143% when shifted from M2 (7.2 km/h) to M3 (10.3 km/h); while during plow tillage and harrowing, the load of the tractor increased approximately 1.2 times and 1.5 times, respectively.

Agricultural tractor roll over protective structure (ROPS) test using simplified ROPS model

  • Ryu-Gap Lim;Young-Sun Kang;Dae-Hyun Lee;Wan-Soo Kim;Jun-Ho Lee;Yong-Joo Kim
    • Korean Journal of Agricultural Science
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    • v.49 no.4
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    • pp.823-835
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    • 2022
  • In this study, the feasibility of alternative tractor Roll Over Protective Structure (ROPS) designed to evaluate conditions required for testing was confirmed. In accordance with Organization for Economic Cooperation and Development (OECD) code 4, the required load energy of the tractor ROPS was determined. First, the tractor ROPS test was performed and a repeated test was performed using a simplified ROPS as an alternative tractor ROPS. The test procedure is first rearward, second lateral, and last forward based on ROPS. The load test device consists of a load cell that measures force and a LVDT that measures deformation. Precision was confirmed by calculating the relative standard deviation of the simplified ROPS repeated test. Accuracy was analyzed by calculating the mean relative error between the mean measured values in the simplified ROPS test and the tractor ROPS test. As a result, the relative standard deviation was less than 2.5% for force and 3.3% for maximum deformation overall, showed the highest precision in lateral load. The mean relative error value for force measured at the lateral load of simplified ROPS was 0.5%, showing the highest accuracy. In the front load test, the mean relative error of maximum deformation was 20.5%, showing the lowest accuracy. The mean relative error (MRE) was high in the forward load test was because of structural factors of the ROPS. The simplified ROPS model is expected to save money and time spent preparing tractors.

Tillage boundary detection based on RGB imagery classification for an autonomous tractor

  • Kim, Gookhwan;Seo, Dasom;Kim, Kyoung-Chul;Hong, Youngki;Lee, Meonghun;Lee, Siyoung;Kim, Hyunjong;Ryu, Hee-Seok;Kim, Yong-Joo;Chung, Sun-Ok;Lee, Dae-Hyun
    • Korean Journal of Agricultural Science
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    • v.47 no.2
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    • pp.205-217
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    • 2020
  • In this study, a deep learning-based tillage boundary detection method for autonomous tillage by a tractor was developed, which consisted of image cropping, object classification, area segmentation, and boundary detection methods. Full HD (1920 × 1080) images were obtained using a RGB camera installed on the hood of a tractor and were cropped to 112 × 112 size images to generate a dataset for training the classification model. The classification model was constructed based on convolutional neural networks, and the path boundary was detected using a probability map, which was generated by the integration of softmax outputs. The results show that the F1-score of the classification was approximately 0.91, and it had a similar performance as the deep learning-based classification task in the agriculture field. The path boundary was determined with edge detection and the Hough transform, and it was compared to the actual path boundary. The average lateral error was approximately 11.4 cm, and the average angle error was approximately 8.9°. The proposed technique can perform as well as other approaches; however, it only needs low cost memory to execute the process unlike other deep learning-based approaches. It is possible that an autonomous farm robot can be easily developed with this proposed technique using a simple hardware configuration.

Rating of Agricultural Tractors by Fuel Efficiency (농업용 트랙터의 연료 소비 효율 등급화)

  • Kim, Soo-Chul;Kim, Kyeong-Uk
    • Journal of Biosystems Engineering
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    • v.35 no.2
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    • pp.69-76
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    • 2010
  • This study was conducted to develop an index of fuel consumption to rate agricultural tractors by their fuel efficiencies. The fuel consumption index consisted of two components: basic and operational indexes. The basic index is to consider an average amount of fuel consumed by engine when it transmits 20 and 100% of the rated power. The operational index is to consider the fuel consumed by tractor for typical field operations: plowing, rotavating, and the remains. The equations and procedures to obtain these indexes were proposed. The method and fuel consumption rate to classify tractors into 5 grades were also proposed. The best 15% of the tractor models were rated as the first grade, 20% as the second grade, 30% as the third grade, 20% as the fourth grade, and 15% as the fifth grade in order of fuel efficiency. Using the fuel consumption index, the classification was conducted on 143 tractor models tested at the National Institute of Agricultural Engineering from 2000 to 2007. The proposed 5-grade system of classification using the fuel consumption index could be used to rate the fuel efficiency of 20-100 kW tractor models produced over past 10 years in Korea.

Analysis of The Lateral Motion of Tractor-Trailer Combination (I) Operator/Vehicle System Model for Forward Maneuver

  • Torisu, R.;Mugucia, S.W.;Takeda, J.
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • 1993.10a
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    • pp.1137-1146
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    • 1993
  • In order to analyze lateral control in the forward manuever of a tractor- trailer combination , a human operator model and a kinematic vehicle model were utilized for the operator/vehicle system. By combining the vehicle and operator models, a mathematical model of the closed-loop operator/vehicle system was formulated. A computer program was developed so as to simulate the motion of the tractor-trailer combination . In order to verify the operator/vehicle system model, the results of the field trials were compared with the simulated results. There was found to be reasonably good agreement between the two.

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