Video planter guidance aid

• US 4,365,268 A
• Filed: 09/12/1980
• Issued: 12/21/1982
• Est. Priority Date: 09/12/1980
• Status: Expired due to Term

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Allen, David T., Baker, Keith R.
• Primary Examiner(s): Griffin, Robert L.
• Assistant Examiner(s): Coles, Edward L.
• Application Number:
  US06/186,458
• Time in Patent Office: 830 Days
• Field of Search: 358/108, 358/93, 358/101, 358/210, 294/66 A, 172/430
• US Class Current: 348/120
• CPC Class Codes: A01B 69/001 Steering by means of optical assistance, e.g. television cameras steering devices for road marking vehicles E01C23/163

Abstract

A tractor-planter guidance aid system including a TV camera mounted on a servo motor at an end of the planter to view a mark in the terrain created by a marker mounted on the other end of the planter. Angle sensors send signals to a control circuit, these signals representing the angle between the tractor and the planter and between the camera and the planter. The control circuit cooperates with the servo motor to maintain the camera in parallel alignment with the tractor. A TV monitor displays the image detected by the camera to the operator of the tractor.

Claims

1. A guidance aid for assisting an operator in guiding a motorized vehicle pulling an implement pivotally attached thereto for movement about a vertically extending pivot axis, the guidance aid comprising:

means attached to the implement for creating a mark in a terrain surface;

a video camera pivotally mounted on the implement for converting an image of the mark to electrical image signals indicative thereof;

display means mounted on the vehicle and coupled to the camera for displaying to the operator an image corresponding to the electrical image signals; and

control means for automatically aiming the camera in a fixed predetermined direction with respect to the vehicle.

2. The guidance aid of claim 1, wherein the control means comprises:

implement angle sensor means for generating implement angle signals representing an angle between the vehicle and the implement;

circuit means for generating control signals as a function of the implement angle signals; and

servo means coupled to the circuit means, to the implement, and to the camera for rotating the camera with respect to the implement in response to the control signals.

3. The guidance aid of claim 1, wherein the control means comprises:

implement angle sensing means for generating implement angle signals representing an angle between the vehicle and the implement;

camera angle sensing means for generating camera angle signals representing an angle between the camera and the implement;

circuit means for comparing the implement and camera angle signals and for generating an error signal as a function thereof; and

servo means responsive to the error signals for rotating the camera relative to the implement to reduce the magnitude of the error signals.

4. The guidance aid of claim 2, wherein:

the vehicle includes a drawbar member extending therefrom, the implement including a hitch member extending therefrom for coupling to the drawbar member and for pivoting relative thereto about a coupling axis; and

the implement angle sensing means comprises a housing fixed to one of the drawbar and hitch members, a shaft mounted for rotation with respect to the housing, means interconnecting the shaft and the other of the drawbar and hitch members to rotate the shaft in response to pivoting of the hitch member relative to the drawbar member, and means for generating the implement angle signals as a function of an angular position of the shaft relative to the housing.

5. The guidance aid of claim 4, wherein:

the interconnecting means comprises an arm extending radially from the shaft and a resilient member with one end connected to an outer end of the arm and with an opposite end connected to the other of the drawbar and hitch members.

6. The guidance aid of claim 4, wherein:

the shaft of the implement angle sensing means has an axis of rotation colinear with the coupling axis.

7. A guidance aid system for assisting an operator in guiding a vehicle pulling an implement pivotally attached thereto, the guidance aid system comprising:

marker means attached to the implement for creating a mark in the terrain;

a video camera pivotally mounted on the implement for converting an image of the mark to electrical image signals indicative thereof;

control means for aiming the camera in a first predetermined direction with respect to the vehicle, the control means comprising implement angle sensing means for generating an implement angle signal representing an angle between the vehicle and the implement, circuit means for generating control signals as a function of the implement angle signals and servo means responsive to the control signals for rotating the camera relative to the implement; and

display means mounted on the vehicle and coupled to the camera for displaying to the operator an image corresponding to the electrical image signals.

8. The guidance aid system of claim 7, wherein:

the vehicle includes a drawbar member extending therefrom, the implement including a hitch member extending therefrom for coupling to the drawbar member and for pivoting relative thereto about a coupling axis; and

the implement angle sensing means comprises a housing fixed to one of the drawbar and hitch members, a shaft mounted for rotation with respect to the housing means interconnecting the shaft with the other of the drawbar and hitch members to rotate the shaft in response to pivoting of the hitch member relative to the drawbar member, and means for generating the implement angle signals as a function of an angular position of the shaft relative to the housing.

9. The guidance aid system of claim 8, wherein:

the interconnecting means comprises an arm extending radially from the shaft and a resilient member with one end connected to an outer end of the arm and with an opposite end connected to the other of the drawbar and hitch members.

10. The guidance aid system of claim 8, wherein:

the shaft of the implement angle sensing means has an axis of rotation colinear with the coupling axis.

11. A guidance aid system for assisting an operator in guiding a vehicle pulling an implement pivotally attached thereto, the guidance aid system comprising:

marker means attached to the implement for creating an mark in the terrain;

video camera pivotally mounted on the implement for converting an image of the mark to electrical image signals;

control means for aiming the camera in a fixed predetermined direction with respect to the vehicle, the control means comprising implement angle sensing means for generating an implement angle signal representing an angle between the vehicle and the implement, camera angle sensing means for generating a camera angle signal representing an angle between the camera and the implement, circuit means for comparing the implement and camera angle signals and for generating an error signal representing the difference therebetween and servo means responsive to the error signals for rotating the camera relative to the implement to reduce the magnitude of the error signal; and

display means mounted on the vehicle and coupled to the camera for displaying to the operator an image corresponding to the electrical image signals.

12. The guidance aid system of claim 11, wherein:

the vehicle includes a drawbar member extending therefrom, the implement including a hitch member extending therefrom for coupling to the drawbar member and for pivoting relative thereto about a coupling axis; and

the implement angle sensing means comprising a housing fixed to one of the drawbar and hitch members, a shaft mounted for rotation with respect to the housing, means for interconnecting the shaft and the other of the drawbar and hitch members, and means for generating the implement angle signals as a function of an angular position of the shaft relative to the housing.

13. The guidance aid system of claim 12, wherein:

the interconnecting means comprises an arm extending radially from the shaft and a resilient member with one end connected to an outer end of the arm and with an opposite end connected to the other of the drawbar and hitch members.

14. The guidance aid system of claim 12, wherein:

the implement angle sensing means shaft has an axis of rotation colinear with the coupling axis.

15. A guidance aid for assisting an operator in guiding a vehicle with a towed implement pivotally attached thereto, the guidance aid comprising:

marker means projecting from the implement for creating a mark in the terrain;

a video camera means pivotally attached to the implement for converting an image of the mark to electrical image signals;

display means mounted on the vehicle and connected to the camera for displaying to the vehicle operator an image corresponding to electrical image signals;

first angle sensing means for sensing a relative angle between the vehicle and the implement and for generating an implement angle signal corresponding thereto;

circuit means coupled with the angle sensing means for generating a control signal as a function of the implement angle signal; and

servo means connected to the camera for pivoting the camera in response to the control signal.

16. The guidance aid of claim 15, further comprising:

second angle sensing means for detecting an angle between the camera and the implement and for generating a feedback angle signal corresponding thereto, the control means generating an error control signal as a function of the implement and feedback angle signals.

17. The guidance aid of claim 16, wherein the circuit means comprises:

comparator means for receiving the implement and feedback angle signals and for generating a differential signal representing the difference therebetween; and

amplifier means for generating the error control signal in response to the differential signal.

18. A guidance aid for assisting an operator to guide a vehicle towing an implement pivotally coupled thereto about a vertically extending coupling axis, the guidance aid comprising:

a video camera mounted on the implement for converting an image of a mark created in terrain to electrical image signals;

display means mounted on the vehicle for displaying to the operator an image corresponding to the electrical image signals;

pivot means for pivotally mounting the camera on the implement; and

control means for automatically rotating the camera relative to the implement and for automatically maintaining aiming of the camera in a direction parallel to a longitudinal axis of the vehicle.

19. A guidance aid for assisting an operator in guiding a motorized vehicle pulling an implement pivotally attached thereto, the guidance aid comprising:

means attached to the implement for creating a mark in a terrain surface;

a video camera pivotally mounted on the implement for converting an image of the mark to electrical image signals indicative thereof;

display means mounted on the vehicle and coupled to the camera for displaying to the operator an image corresponding to the electrical image signals; and

control means for aiming the camera in a fixed predetermined direction with respect to the vehicle, the control means comprising implement angle sensor means for generating implement angle signals representing an angle between the vehicle and the implement, circuit means for generating control signals as a function of the implement angle signals, and servo means coupled to the circuit means, to the implement, and to the camera for rotating the camera with respect to the implement in response to the control signals.

20. A guidance aid for assisting an operator in guiding a motorized vehicle pulling an implement pivotally attached thereto, the guidance aid comprising:

means attached to the implement for creating a mark in a terrain surface;

a video camera pivotally mounted on the implement for converting an image of the mark to electrical image signals indicative thereof;

display means mounted on the vehicle and coupled to the camera for displaying to the operator an image corresponding to the electrical image signals; and

control means for aiming the camera in a first predetermined direction with respect to the vehicle, the control means comprising implement angle sensing means for generating implement angle signals representing an angle between the vehicle and the implement, camera angle sensing means for generating camera angle signals representing an angle between the camera and the implement, circuit means for comparing the implement and camera angle signals and for generating an error signal as a function thereof, and servo means responsive to the error signals for rotating the camera relative to the implement to reduce the magnitude of the error signals.