Guidance assist system for agricultural machines

• US 4,077,488 A
• Filed: 06/15/1976
• Issued: 03/07/1978
• Est. Priority Date: 06/15/1976
• Status: Expired due to Term

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.)
• Original Assignee: Sperry Rand Corporation
• Inventors: Wilhelmsen, Harald, Bennett, Clarence L. Jr., Bohman, Carl E., DeLorenzo, Joseph D.
• Primary Examiner(s): Silverstrim, John P.
• Application Number:
  US05/696,444
• Time in Patent Office: 630 Days
• Field of Search: 180/98, 180/131, 180/79.1, 56/10.2, 56/121.41, 56/DIG. 2, 56/DIG. 7, 56/DIG. 15, 172/5, 172/6, 250/202, 250/233
• US Class Current: 180/169
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: Y10S 56/15 Condition responsive

Abstract

A guidance assist system is mounted on an agricultural machine for directing the lateral movement thereof with respect to the severed edge of the crop material being harvested thereby. The crop, including the severed edge, is periodically, optically, scanned and an output signal, in response to the reflected illumination therefrom, is generated having a discontinuity therein representative of the severed crop edge. The deviation of this discontinuity from a predetermined point along the scan is determined by the apparatus and an error signal representative thereof is coupled to the utilization means for directing the lateral movement of the agricultural machine such that the error signal is reduced towards zero.

Claims

1. Guidance assist apparatus for directing the lateral movement of an agricultural machine relative to the edge of a severed crop comprising:

optical sensing means for producing a signal in response to the intensity of the reflected illumination from the crop material in view thereof,

scanning means disposed relative to said optical sensing means for providing thereto periodic scans of the crop material preceding the machine wherein said periodic scans include the severed crop edge and wherein the signal from said optical sensing means will change in response to the intensity of the reflected illumination from the crop and severed crop material as the severed crop edge is scanned thereby resulting in a discontinuity in the output signal therefrom,

circuit means coupled to said optical sensing means for providing an error signal representative of the deviation of the discontinuity in the output signal of said optical sensing means from a predetermined point in the scan, and

utilization means responsive to said error signal for directing the lateral movement of the machine so that said error signal reduces toward zero.

2. The apparatus as described in claim 1 wherein said optical sensing means includes:

first photodetecting means for producing electrical signals in response to illuminations thereon and wherein the magnitude of the electrical signals produced thereby vary as a function of intensity of the illuminations,

bandpass filter means, optically preceding said first photodetecting means, for providing illuminations to said photodetecting means having a wavelength in which the difference between the intensities of the reflected illuminations from the severed and unsevered crops is substantial, and

first amplifier means for amplifying the output signal from said first photodetecting means.

3. The apparatus as described in claim 2 wherein the scanning means includes a disc having a plurality of uniformly spaced apertures and means for rotating said disc such that the apertures therein rotate by said optical sensing means.

4. The apparatus as described in claim 3 wherein said circuit means includes:

low pass filter means coupled to said first amplifier means for filtering from the output therefrom periodic fluctuations therein due to the passage of the appertures by said optical sensing means,

limiter amplifier means coupled to said low pass filter means for limiting the output of the signal therefrom to a square wave referenced at the midpoint of said discontinuity in the signal due to the severed crop edge,

integrator means coupled to the output of said limiting amplifier means for integrating the output signal therefrom, and

reference circuit means coupled between said limiting amplifier means and said integrator means for providing to said integrating means a symmetrical sampling of the output from said limiter amplifier means with respect to said predetermined point along the scan and including said discontinuity such that said integrator means produces the error signal having a magnitude of zero when the severed crop edge occurs at said predetermined point along the scan and having an appropriate magnitude and polarity in response to a deviation therefrom.

5. The apparatus as described in claim 4 wherein said circuit means further includes offset circuit means for coupling a signal to the input of said integrator means and effectively readjusting said predetermined point thereby.

6. The apparatus as described in claim 4 wherein said reference circuit means includes:

an illumination source means proximately disposed with respect to the apertures of said disc means for providing a source of illumination,

second photodetecting means disposed relative to said illumination source means and said disc, such that a synchronous illumination with respect to each scan of the crop viewed by said optical sensing means is provided thereto, for generating electrical signals in response to said synchronous illuminations, and,

switching means coupled between said limiter amplifier means and said integrator means for coupling the output of said limiter amplifier means thereto in response to the electrical signals generated by said second photodetecting means.

7. The apparatus as described in claim 6 further including means for maintaining said error signal independent of whether the relatively more intense illumination is scanned prior to or subsequent to the severed crop edge comprising:

polarity circuit means responsive to said second photodetecting means for detecting the polarity of the output from said limiter amplifier means at either extremity of said symmetrical sampler thereof and providing an invert signal in response to a change in the polarity thereof, and

inverter circuit means coupled to the output of said integrator means for inverting the signal therefrom in response to said invert signal.

8. The apparatus as described in claim 7 further including means coupled to said polarity circuit means for determining if the contrast between the illumination reflected from the crop on either side of the severed crop edge is sufficient for operation of the system and for providing a warning signal when said contrast is insufficient.

9. The apparatus as described in claim 3 wherein said circuit means includes:

first, second and third reference detector circuits cooperating with said scanning means to provide first, second and third uniform sampling signals corresponding to the initial, middle and latter portions respectively of each scan of the crop viewed by said optical sensing means,

first, second and third switching means each having an input coupled to the output of said first amplifier means and responsive to the first, second and third sampling signals respectively,

first summing means coupled to the outputs of said first and third switching means for summing the outputs therefrom,

second amplifier means having a gain of -2 and coupled to the output of said second switching means for amplifying the output therefrom accordingly,

second summing means having an input coupled to the output of said first summing means and an input coupled to the output of said second amplifier means for generating an error signal equal to the summation thereof, and

low pass filter means coupled to the output of said second summing means for filtering therefrom the frequency component in said output signal due to the rotation of said apertures by said optical sensing means and wherein the output therefrom is a d.c. signal having zero magnitude when the severed crop edge occurs in the middle portion of the scan and having an appropriate magnitude and polarity in response to deviations of the crop edge therefrom.

10. The apparatus as described in claim 2 wherein the central wavelength of the optical bandpass filter is 6500 Angstroms.

11. The apparatus as described in claim 2 wherein the first photodetecting means is comprised of a photo diode.