Robot tractors
DCFirst Claim
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1. A method of automatically controlling the operation of tractors, combines and other agricultural machinery in a field comprising the steps of:
- sensing a characteristic of the field adjacent the machinery with a first electro-optical sensor located on the machinery;
determining a desired steering, throttle position, or other control function of the machinery from the sensed characteristic using a microcomputer located on the machinery, the microcomputer being programmed for terrain, field size, crop type, or other appropriate variable of the field;
determining the position of the machinery in the field relative to a reference point using a second electro-optical sensor and a target, one of the sensor and target being located at the reference point and the other on the machinery; and
automatically actuating the steering, throttle, or other control function to guide the machinery in a desired manner of operation.
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Abstract
Disclosed is an electro-optical and microcomputer based method and apparatus for automatically guiding tractors and other farm machinery for the purpose of automatic crop planting, tending and harvesting. Also disclosed are means for automatic picking, excavating and other off-road uses in relatively confined areas.
263 Citations
12 Claims
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1. A method of automatically controlling the operation of tractors, combines and other agricultural machinery in a field comprising the steps of:
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sensing a characteristic of the field adjacent the machinery with a first electro-optical sensor located on the machinery; determining a desired steering, throttle position, or other control function of the machinery from the sensed characteristic using a microcomputer located on the machinery, the microcomputer being programmed for terrain, field size, crop type, or other appropriate variable of the field; determining the position of the machinery in the field relative to a reference point using a second electro-optical sensor and a target, one of the sensor and target being located at the reference point and the other on the machinery; and automatically actuating the steering, throttle, or other control function to guide the machinery in a desired manner of operation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An apparatus for automatically controlling the operation of tractors, combines, and other agricultural machinery in a field comprising;
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a first electro-optical sensor means for sensing a characteristic of the field adjacent the machinery, said first sensor means being located on the machinery; a microcomputer means mounted on the machinery for determining a desired steering, throttle position, or other control function of the machinery based on the characteristic of the field sensed by said first sensor means, said microcomputer means being preprogrammed with appropriate field variables; a second electro-optical sensor means for determining the position of the machinery in the field, said second sensor means including an electro-optical sensor, a target, and a reference with one of said sensor and said target located at said reference and the other on the machinery; and an actuating means for automatically actuating the steering, throttle, or other control function to guide the machinery in a desired manner of operation based on the desired control function determined by said microcomputer and the position of the machinery in the field. - View Dependent Claims (12)
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Specification