Device for guiding the displacement of a vehicle and in particular an agricultural machine

• US 4,286,151 A
• Filed: 11/16/1979
• Issued: 08/25/1981
• Est. Priority Date: 11/21/1978
• Status: Expired due to Term

• Current Assignee: Lestradet Maurice C J
• Original Assignee: Lestradet Maurice C J
• Inventors: Lestradet, Maurice C. J.
• Primary Examiner(s): Nelms, David C.
• Application Number:
  US06/094,811
• Time in Patent Office: 648 Days
• Field of Search: 250/231 R, 250/231 SE, 250/231 GY, 250/216, 250/230, 33/361, 33/363 R, 33/363 K
• US Class Current: 250/230
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

The device comprises in a preferred embodiment, on one hand, an orienting system comprising a compass provided with two reflecting faces angularly offset 180°, an orientable optical system for detecting the angular deviation of the reflecting faces relative to a reference direction and means for displaying the detected deviation and, on the other hand, an automatic piloting system comprising a set of mirrors photocells, a servo-control device, and a cylinder device (32) for steering the steering wheels (33) of the vehicle.

Application in particular to agricultural machines.

Claims

1. A device for guiding the displacement of a vehicle, having ground-contacting wheels, and in particular an agricultural machine, said device being more particularly adapted to enable the vehicle to effect different parallel passages over an area and comprising a support, a system for automatically maintaining said support in a horizontal position on a fixed part of the vehicle, a magnetized element acting as a compass and movably mounted on said support, means defining at least one planar light beam reflecting face on said magnetized element, means combined with said magnetized element for angularly orienting said magnetized element, an optical system mounted on said support for locating the position of said reflecting face, an automatic piloting device comprising a system mounted on said support for detecting the intensity of the beam reflected by said reflecting face, means for steering the steering wheels of the vehicle and a servo-control device connecting said intensity detecting system to said wheel steering means, said detecting system detecting the magnitude and direction of the lateral deflection of the beam reflected by said reflecting face and comprising two mirrors disposed at 90°

to each other and constituting a vertical dihedral structure which defines a vertical flat surface at the dihedral angle between said two mirrors and having a width which is equal to the width of the image of said reflecting face projected by said optical system, the bisector plane of said dihedral angle coinciding with the plane of the optical axis of the incident beam impinging on said reflecting face and the optical axis of the beam reflected by said reflecting face, and two luminous flux responsive means respectively disposed laterally on both sides of said two mirrors and connected to said servo-control device.

2. A device as claimed in claim 1, wherein said optical system comprises at least one source of light, second means responsive to luminous flux, and a mask interposed on a sensitive face of said second means responsive to the luminous flux, said masking defining a slot which has parallel edges and a width exactly equal to the width of the image projected onto said reflecting face.

3. A device as claimed in claim 2, wherein said flat surface of the dihedral structure is located in the plane of the slot of said mask and has a height equal to the height of said slot.

4. A device as claimed in claim 2, wherein the optical system further comprises a condenser whose optical axis lies in the path of the beam from said source of light to said reflecting face, and an objective for projecting the image from said reflecting face onto the second luminous flux responsive means, the axis of the incident beam of light falling on said reflecting face, the axis of the beam of light reflected by said reflecting face, and the axis of said slot of said mask being contained in a vertical plane containing the axis of said magnetized element.

5. A device as claimed in claim 1, wherein said system for automatically mantaining said support in a horizontal position comprises universal joint means carrying said support and a platform is rotatably mounted on said support and said magnetized element is mounted on said platform, said means for angularly orienting said magnetized element acting directly on said platform.

6. A device as claimed in claim 5, wherein the means for angularly orienting said magnetized element comprise a worm wheel rigid with said platform, a worm engaged with said worm wheel, a flexible cable connected at one end to drive said worm and an actuating wheel connected to an opposite end of said cable for driving the cable, the wheel being disposed in a driving station of the vehicle.

7. A device as claimed in any one of the claims 1 to 5, wherein said magnetized element carries two diametrically opposed reflecting faces, there being a single optical system mounted on said support.

8. A device as claimed in any one of the claims 1 to 5, wherein said magnetized element carries a single reflecting face and there is provided a single optical system which is capable of occupying two positions which are diametrically opposed relative to a vertical axis of rotation of said magnetized element.

9. A device as claimed in any one of the claims 1 to 5, wherein said magnetized element carries a single reflecting face and it comprises two identical optical systems which are disposed to be diametrally disposed relative to a vertical axis of rotation of said magnetized element.

10. A device as claimed in any one of the claims 2 to 5 further comprising means for displaying the degree of illumination of said second means responsive to luminous flux and connected to said second means responsive to luminous flux and disposed in a driving station of the vehicle, said display means comprising a galvanometer having a wheatstone bridge in one of the branches of which bridge said second means responsive to luminous flux is inserted.