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Introduction

This chapter includes overview, receiver features, and devices in the package.

Overview​

The Tersus AG993 Auto-Steering System is an automatic steering system which uses integrated guidance controller and high-torque motor control steering wheel. It integrates the advantages of convenient installation, large torque, high precision, low noise, low heat, and quick debugging. It is suitable for various applications of tractors, harvesting machines, plant protection machinery, rice transplanters and other agricultural models.

The system includes a highly integrated guidance controller, a display tablet and an electric steering wheel. It provides satellite-based Precise Point Positioning (PPP) service with global coverage. It controls the vehicle and co-operates with/without a base station to form a whole machine control system for agriculture applications. It can be widely used for sowing, cultivating, trenching, ridging, spraying pesticide, transplanting, land consolidation, harvesting and other work scenarios.

Devices in the package​

The devices in the package may vary according to the customer requirement. Here describes the major parts in the package.

AG993 with Basic Accessories​

No.ItemImage
1GC30 Guidance ControllerGC30 Guidance Controller
2TC120 TabletTC120 Tablet
3TES30 Electric MotorTES30 Electric Motor
4Main CableMain Cable
5Steering WheelSteering Wheel
6CameraCamera
7Power Switch MountPower Switch Mount
8Motor Bracket AMotor Bracket A
9Motor Bracket UMotor Bracket U
10Tablet BracketTablet Bracket
11Zip TieZip Tie
12Type-C to USB ConverterType-C to USB Converter
13SplineSpline
14Screw PackScrew Pack
15Warranty CardWarranty Card

Optional Accessories​

No.ItemImage
16Radio AntennaRadio Antenna
17Steering Wheel KnobSteering Wheel Knob
18Wheel Angle SensorWheel Angle Sensor
19Remote Control Panel with CableRemote Control Panel with Cable
20Remote Control Panel CableRemote Control Panel Cable
21Multifunctional Steering Wheel Cover (400mm)Multifunctional Steering Wheel Cover (400mm)

GC30 Guidance Controller​

The Tersus GC30 Guidance Controller is a highly integrated, multi-constellation high-precision GNSS receiver that provides centimeter-level accuracy. It not only supports RTK positioning but, more importantly, comes equipped with TAP (Tersus Advanced Positioning), a satellite-based precise point positioning service.

When integrated into AG993 Auto-Steering System, GC30 guidance controller connects to the tablet via main cable, enabling the system to directly receive RTK corrections from the local RTK base station or CORS.

With TAP service, the AG993 Auto-Steering system achieves centimeter-level high-precision positioning even in areas with poor network coverage, such as oceans, deserts, mountains, high altitudes, etc. After 3-5 minutes convergence time, less than 5 cm accuracy can be achieved.

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Controller Features

  • Supports multiple constellations & frequencies

  • GPS L1 C/A, L2C, L2P, L5C

  • GLONASS L1 C/A, L2 C/A

  • BeiDou B1I, B2I, B2a, B3I

  • Galileo E1, E5a, E5b

  • QZSS L1 C/A, L2C, L5

  • L-Band

  • Supports RTCM2.3/3.x, CMR, CMR+ corrections.

  • Solution update rate can be 20Hz.

  • Inertial Measurement Unit (IMU) supported.

  • Internal radio supported.

  • Internal Bluetooth, Wi-Fi, Cellular module supported.

  • IP67 for waterproof & dustproof, work reliably in harsh condition

Ports and Lights

The GC30 guidance controller has 3 ports and 3 lights as shown below.

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  1. COM1 port: Connect to Tablet.

  2. COM2 port: Connect to Motor, Remote Control and WAS.

  3. RADIO port: Connect to external radio antenna.

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NO.LEDDescription
④StatusON: GC30 is booting, or in Fixed solution status.
Flash(2Hz): GC30 is in Float or DGPS solution status.
Blink(5s): GC30 is in single solution status.
⑤CorrectionOFF: GC30 receives no correction.
Flash(1Hz): GC30 is receiving correction.
⑥SatelliteOFF: GC30 receives no satellite.
Flash: GC30 receives satellites. The number of quick flash sequence represents the number of satellites. (2s between each flash sequences)

Table 1-1 Description of LED status of GC30

TC120 Display Tablet​

The TC120 Control Tablet is shown as below.

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Tablet Features

  • Powerful hardware: 8-core CPU, 2.0GHz, 3GB RAM and 32GB ROM.

  • Integrated High-Precision GNSS: Embedded 4G modem, Bluetooth, and Wi-Fi module.

  • User-friendly operating system: Android 11.

  • Versatile communication interfaces: CAN Bus, Serial, Ethernet, a waterproof USB interface, and more, catering to diverse application requirements.

  • Rugged design: IP67 protection, offering durability and resistance in challenging environmental conditions.

  • Wide Voltage Input Range: Supports a voltage input range of 9-36VDC, allowing it to withstand vehicle ignition without a restart, along with overcurrent and overvoltage protection.

  • Compact, fanless design: a well-engineered internal structure for efficient heat dissipation.

  • High-resolution touchscreen: 10.1-inch capacitive touchscreen, a resolution of 1280 × 800, brightness of 600 nits, ensuring high visibility even in bright conditions.

Button and Port

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BUTTON: Power button, short press to lock screen, long press to power off and restart.

PORT:

PINDefinitionDirection
1B+Input
2B-Input
3ACCInput
4CAN1_HBI direction
5CAN1_LBI direction
612V_OUTPUT1Output
712V_OUTPUT2Output
8GND/
9RS485_ABI direction
10RS485_BBI direction
11CAN2_HBI direction
12CAN2_LBI direction
1312V_OUTPUT3Output
14RS232_TX1Output
15GPIO_INPUT2Input
16CAMERA_1Input
17RS232_RX2Input
18RJ45_TX-Output
19RJ45_RX-Input
20RS232_RX1Input
21GPIO_INPUT1Input
22CAMERA_0Input
23CVBS_PWR_12VOutput
24RS232_TX2Output
25RJ45_TX+Output

Tablet Bracket

The tablet bracket ensures a secure fixation of the tablet in the driver's cabin, allowing the driver to operate it at the desired angle with convenience.

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TES30 Electric Motor Wheel​

The TES30 electric motorized steering wheel is designed for optimal performance and user convenience. Equipped with a stable and high-torque motor, it ensures nimble reactions for precise steering control. Its user-friendly design facilitates easy installation and maintenance, making it compatible with most tractor types. Experience optimal performance with low noise, minimal heat emission, and exceptional steering accuracy. With an IP55 protection rating, this electric motor steering wheel stands out for its durability and resilience in various environmental conditions.

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Spline

During the installation of the electric motor wheel onto the vehicle, it is essential to use a spline that matches a corresponding set on the interior of the steering wheel hub. This spline connection ensures proper alignment and secure attachment, playing a crucial role in maintaining accurate steering control and preventing slippage during operation.

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Figure 1-8 Spline

Motor Bracket

The motor bracket ensures a secure attachment of the electric motor to the wheel hub for the steering wheel.

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Figure 1-9 Motor Bracket A & U

Camera​

Camera is mounted on the front or rear of vehicle to get view of surroundings, connects to camera port of the main cable via camera extension cable.

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Figure 1-10 camera

Main Cable​

This main cable connects every part of the system, supplying power and transmitting data.

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