DEVICE FOR GUIDING OF SELF- WALKING WHEEL AGRICULTURAL MACHINES

The device is used for the automatic guidance of combine harvesters. It has an enhanced precision of orienting information, which is independent from the incoming signal's polarity, thus eliminating additional tuning. The device has a power hydraulic cylinder (1) connected by a lever transmission (2) to guiding wheels (3), and by a hydraulic trunk-line (4), to a an electronic hydraulic system (5), the input of which is connected to the output of an analogous majority element (6). The latter's (6) inputs are connected by a common bus (7) to the output of an integral-differentiating unit (8) as well as to the output of a semi-summator (9), the inputs of which are connected to the outputs of two memory cells (10 and 11), one for the maximum, and one for the minimum of the incoming signal. The summated signal from the orientation sensors outputs is fed to the inputs of the integral-differentiating unit (8) and the two memory cells. The two memory cells and the integral-differentiating unit are designed with non-inverting amplifiers, which does not cause errors due to the resistors accuracy and eliminates tuning.