Tractor having guidance system
First Claim
1. An agricultural tractor having an automatic steering device including at least one accelerometer which generates signals responsive to side-to-side motion of the tractor, said accelerometer carried by said tractor in a horizontal position transverse to the tractor'"'"'s normal direction of travel, said accelerometer being stabilized in its horizontal position by at least one gyroscope, the axis of rotation of said gyroscope being virtually parallel to the earth'"'"'s axis of rotation.
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Accused Products
Abstract
An agricultural tractor having two longitudinally aligned back wheels on each side receiving an endless track of the "caterpillar" type and steerable front wheels which are controlled automatically by a predetermined line of travel whereby the tractor is maintained within margins equidistant from the line of travel defining a path which it is desired the tractor follow to perform agricultural operations such as plowing. The tractors'"'"'s actual track is monitored and compared with the desired line of travel by programmed steering operating to correct deviations. A single gyroscope which has its axis of rotation parallel to the earth'"'"'s axis of rotation stabilizes a platform, keeping it perfectly horizontal for two accelerometers, one aligned with the tractor'"'"'s longitudinal center line and the other at right angles thereto. The accelerometers monitor accelerations by the tractor to establish its position relative to its starting point and to its deviations from the line of travel. The tractor'"'"'s steering wheel may be used to override the automatic operation. The tractor travels back and forth along parallel paths and negotiates turns at the end of each run, each such turn being accomplished by programmed steering corrected by actual variations which occur from the programmed turn as signalled by the transverse accelerometer. Preferably, the tractor'"'"'s implement is automatically raised during each turn.
66 Citations
19 Claims
- 1. An agricultural tractor having an automatic steering device including at least one accelerometer which generates signals responsive to side-to-side motion of the tractor, said accelerometer carried by said tractor in a horizontal position transverse to the tractor'"'"'s normal direction of travel, said accelerometer being stabilized in its horizontal position by at least one gyroscope, the axis of rotation of said gyroscope being virtually parallel to the earth'"'"'s axis of rotation.
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6. An agricultural tractor having an automatic steering device which comprises:
- a programmed desired line of travel registering means carried by the tractor;
actual position monitoring means carried by the tractor which comprises means for detecting accelerations of the tractor directed normally to said desired line of travel;
means for generating a signal from said acceleration detection means comprising means for continuously integratng accelerations detected by said acceleration detection means at least three times whereby the distance of the integrated track of the vehicle from said desired line of travel measured perpendicular to said desired line of travel is derived and a signal is generated for initiating corrective steering by said steering device at a predetermined detected measurement of said distance from said desired line of travel; and
means causing steering action which turns said tractor through 180°
to a new desired line of travel parallel to said first mentioned line of travel which is initiated when said tractor has travelled a predetermined distance along said first mentioned line of travel. - View Dependent Claims (7, 8, 9)
- a programmed desired line of travel registering means carried by the tractor;
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10. An agricultural tractor having an automatic steering device for negotiating turns which comprises:
- a pre-set turning program that generates artificial signals corresponding to transverse accelerations of said tractor which would occur if the tractor negotiated the turns starting at a predetermined location and without wheels slippage and ending at a further predetermined location;
transverse accelerations detection means and a gyroscope mounted on said tractor, said transverse acceleration means comprising an accelerometer that measures actually occurring transverse accelerations of the tractor while turning;
means for generating signals from said accelerometer, said accelerometer being maintained horizontal by said gyroscope and transverse to the tractor direction of travel by its mounting on the tractor;
means for comparing said accelerometer signals with said artificial signals; and
means causing corrective steering action during said turns controlled by the difference between said artificial signals and said accelerometer'"'"'s signals whereby the tractor negotiates each said turn so that its location at the end of the turn corresponds to said predetermined further location. - View Dependent Claims (11, 12, 13, 14, 15)
- a pre-set turning program that generates artificial signals corresponding to transverse accelerations of said tractor which would occur if the tractor negotiated the turns starting at a predetermined location and without wheels slippage and ending at a further predetermined location;
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16. In an agricultrual tractor for performing agricultural functions in a restricted geographical location at a latitude between 25°
- and 65°
from the equator, an inertia guidance system comprising a platform mounted on said tractor, a gyroscope and an accelerometer carried by said platform, said accerleometer providing guidance information responsive to horizontal accelerations, means for steering said tractor receiving said guidance information from said accelerometer, said gyroscope having an axis of rotation which is fixed parallel to the earth'"'"'s axis of rotation when the system is operational to stabilize said platform and maintain said accelerometer in a level position. - View Dependent Claims (17)
- and 65°
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18. An agricultural tractor having an automatic steering device which comprises:
- a programmed desired straight line of travel registering means carried by the tractor;
actual position monitoring means carried by the tractor which comprises means for detecting accelerations of the tractor transverse to said desired line of travel;
means for generating a signal from said acceleration detection means comprising means for continuously integrating said transverse accelerations three times, said third integral of transverse accelerations providing a registration so that a signal is generated for initiating corrective steering by said steering device upon exceeding said registration by a predetermined margin. - View Dependent Claims (19)
- a programmed desired straight line of travel registering means carried by the tractor;
Specification