MACHINE CONTROLLING DEVICE AND METHOD Russian patent published in 2008 - IPC B62D57/00 A01B79/00 

FIELD: transportation, agriculture.

SUBSTANCE: method for controlling machine for tilling land involves movement and contact of actuating elements of the machine with the soil. The actuating elements are moved a step forward and then stopped. Support keeps the actuating elements from recoiling when other actuating elements and the machine are moved and these movements are repeated for the required number of times and without increasing number of actuating elements and passage on the ground. The load of the wheels of the machine is adaptively reduced without their skidding. When tilling the soil, resistance of the moving actuating element to recoiling is increased or by supports, so that the propulsive force coincides with the required value, or by self rotation of the moving actuating element, turning it into a support-anchor. The actuating elements are moved along the machine to increase speed with little grabbing across - for increasing the width of grabbing, or combining them, thereby increasing the grabbing width. By shifting supports or restrictors, the stepping motion of the actuating elements is reversed. The stepping actuating elements are moved in succession or together depending on the working conditions. When there is differential drive of the actuating elements, the stepping sequence and the speed of motion is determined by the resistance of the actuating elements. Low resistance actuating elements are put in front of elements with high resistance and maintain the working order or protection when obstacles are encountered. The machine for tilling land has a mechanism for movement and lifting actuating elements. The machine also has detachable stepping actuating elements for tilling the land, supports and drives for longitudinal movement, as well as supports and drives for transverse movement of actuating elements. The drive for actuating elements has an oscillation source which is in form of one ball and socket joint or off-axis roller. The machine also has guide actuating elements. Detachable moving actuating elements are in form of a plough, ripper, paring plough, cultivator, bulldozer, grader, grubber, brush breaker, or some other actuating element with supports for generating propulsion force. The detachable actuating elements are mounted on sections of the step pathway. Actuating elements are installed with provision for rotation for adjusting the row spacing.

EFFECT: higher efficiency of production and use.

11 cl, 51 dwg