Optimation of Crawler Speeds Measurement Using Inductive Proximity for Autonomous Combine Harvester

This paper proposes an optimal method for measuring the crawler rotational speeds of an autonomous combine harvester by the inductive proximity sensor. It mounts an inductive sensor on each wheel so it can detect the metals and the holes on the crawler drive gear. Detection of metals and holes continuously forming a cycle with a particular frequency. The crawler speed is determined by counting the number of cycles at one second as a frequency. The crawler speeds are proportional to the frequency. However, there is another way of measuring crawler speed by counting the cycle period. This research compares measuring methods for the crawler speeds using frequency and period to determine the optimal method. The results of the experiment show that measuring crawler speeds by periods is more accurate than frequency.