Sensor for use in controlling operation of mobile farming machine

• US 4,211,921 A
• Filed: 02/03/1978
• Issued: 07/08/1980
• Est. Priority Date: 02/03/1978
• Status: Expired due to Term

• Current Assignee: Iseki Agricultural Machinery Manufacturing Company Limited
• Original Assignee: Iseki Agricultural Machinery Manufacturing Company Limited
• Inventors: Uetani, Hirofumi, Kanetou, Yuuji
• Primary Examiner(s): Nelms, David C.
• Assistant Examiner(s): Hostetter, Darwin R.
• Application Number:
  US05/874,879
• Time in Patent Office: 886 Days
• Field of Search: 250/202, 180/98
• US Class Current: 250/202
• CPC Class Codes: A01B 69/001 Steering by means of optical assistance, e.g. television cameras steering devices for road marking vehicles E01C23/163
• CPC Class Codes: G06K 11/02 Automatic curve followers , i.e. arrangements in which an exploring member or beam is forced to follow the curve

Abstract

A sensor for use in controlling the operation of a mobile farming machine which has an image taking means carried by the machine and adapted to take the image of a part of the field to be worked, and photoelectric converting means adapted to convert the image into electric signal. The photoelectric converting means consist of a plurality of photoelectric elements disposed in a row crossing the line of movement of the machine, so that the states of the photoelectric elements are changed as the position of a boundary involved by the image taken by the image taking means is moved. Thus, the deviation of the machine from the correct course is detected through the change of states of the photoelectric elements. The image is optically compressed in the direction of movement of the machine, or the output from the photoelectric means is electrically compressed in that direction, so that the final controlling signal is integrated in the direction of movement of the machine, so as to ensure an accurate detection of the boundary.

Claims

1. In combination, a vehicle which is driven along a predetermined path in working a field, and a sensor for controlling the operation of said vehicle in working the field, said sensor comprising a camera mounted on said vehicle so as to optically view the image of the line defining the boundary of the worked and unworked portions of the field to define the path of travel of said vehicle, said camera including means for compressing said image, and photoelectric converting means comprising a plurality of photoelectric elements operatively associated with said camera, said photoelectric elements being arranged in a row disposed generally normal to the image of said boundary line whereby the direction of movement is controlled by detecting the degree of shifting of said line image on said array of photoelectric elements by comparing the photoelectric output from said photoelectric elements.

2. A sensor as claimed in claim 1, characterized in that the position of the boundary line of said boundary image on the row of said photoelectric elements can optionally be changed.

3. A sensor for use in controlling the operation of a mobile farming machine comprising:

image taking means mounted on said mobile farming machine which runs on a field to be worked, and adapted to optically take the image of a part of said field; and

photoelectric converting means adapted to produce a photoelectric output corresponding to the boundary image taken by said image taking means in such a manner that said output is integrated in the direction in which said machine moves, wherein the direction of movement of said machine is controlled in accordance with said photoelectric output.

4. A sensor as claimed in claim 3, characterized in that said photoelectric output is obtained after optically compressing the boundary image taken by said image taking device in the direction of movement of said machine.

5. A sensor as claimed in claim 3, wherein said photoelectric output integrated in the direction of movement of said machine is obtained by electrically compressing the output from said photoelectric converting means which directly converts the boundary image taken by said image taking means into electric signal.

6. A sensor as claimed in claim 3, characterized in that said image taking means are mounted at a front portion of said machine for sensing the arrival of said machine at the end of the field to be worked by detecting the boundary of said end, said machine being so controlled as to make a turn by the output from said image taking means.

7. In combination, a vehicle which is driven along a predetermined path in working a field wherein the path of travel of said vehicle is determined by the boundary line between the worked and unworked portions of the field, and a sensor for controlling the operation of said vehicle for guiding said vehicle along said boundary line, said sensor comprising a camera mounted on said vehicle so as to optically view the line defining said boundary, said camera including means for compressing the image of the viewed area of said boundary line, and photoelectric converting means comprising a plurality of photoelectric elements operatively associated with said camera, said photoelectric elements being arrayed in a row disposed normal to the image of said boundary line, said photoelectric converting means having a shape substantially the same as that of the compressed boundary line image, whereby the compressed image is superposed on the photoelectric converting means to produce electric signals corresponding with the intensities of the corresponding portions of the superimposed images, said photoelectric elements being disposed into two groups of elements, each group including an outermost element and an innermost element, a pair of comparator means, and the outer and innermost elements of one group having their respective outputs connected to the input of one of the said comparators, and the outermost element and innermost element of the other group having their respective outputs connected to the input of the other comparator means whereby the signal of the outputs of the outermost elements are delivered to their respective comparators as a reference signal against which is compared to a signal emitted by the corresponding innermost elements of said groups which varies as the boundary image is shifted as the vehicle travels along said boundary so that the output signal from one comparator or the other is utilized to correct the movement of said vehicle to follow said boundary line.