Mechanically coupled automatic guidance system for agricultural tractors
First Claim
1. An agricultural tractor comprising dirigible wheels, a steering system and an in-field automatic control system by which automatic steering of the tractor occurs along a ground line, said in-field automatic control system comprising:
- sensing means by which the ground line is torsionally sensed;
means, carried by the tractor, for supporting the sensing means so that sensing of the ground line is accommodated;
dirigible means coupled by mechanical linkage means to both the supporting means and the dirigible wheels by which the wheels are selectively turned by said mechanical linkage means into alignment with the ground line responsive to operation of the sensing means.
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Accused Products
Abstract
A simple and inexpensive, mechanically coupled automatic guidance system for tractors comprising a ground line sensor which is directly coupled to a steering system comprising limited, partial, spatial disengagement or play about a narrow steering angle within which the automatic guidance system provides steering control, unencumbered by the forces of the primary steering system, especially the steering forces of a power-steered-tractor. The play in the steering system provides spatial relief of steering forces which could not otherwise be overridden by a purely mechanical system. The ground line sensor comprises three degrees of freedom permitting adjustable variation to the shape, breadth, and attitude of the sensor to conformably match a previously prepared ground line. At least two movement degrees of freedom allow the sensor to horizontally and vertically follow ground line and tractor path anomalies while providing feedback to the automatic guidance system. A sensor attachment tongue vertical controller allows an operator to disengage the ground line sensor allowing alternate safe operation of the steering system without damage to the steering system or to the automatic guidance system. The limited range of the automatic steering angle provides for re-engagement of the primary steering system by turning the primary steering beyond the narrow automatic steering angle. Thus, when the automatic guidance system is disengaged from the ground line, the tractor is dirigible only by the primary steering system.
39 Citations
56 Claims
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1. An agricultural tractor comprising dirigible wheels, a steering system and an in-field automatic control system by which automatic steering of the tractor occurs along a ground line, said in-field automatic control system comprising:
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sensing means by which the ground line is torsionally sensed; means, carried by the tractor, for supporting the sensing means so that sensing of the ground line is accommodated; dirigible means coupled by mechanical linkage means to both the supporting means and the dirigible wheels by which the wheels are selectively turned by said mechanical linkage means into alignment with the ground line responsive to operation of the sensing means. - View Dependent Claims (2, 3, 4, 5, 7, 8, 9, 10, 11)
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6. An agricultural tractor according to claim 6 wherein said sensing means comprise adjustment means whereby orientation of said sensing means is adjusted to best respond to the ground line.
- 12. An agricultural tractor comprising dirigible wheels and a composite steering system associated with the dirigible wheels, the composite steering system comprising first steering means comprising operator responsive steering control means associated with the dirigible wheels by which steered turns in excess of a predetermined amount are manually caused to occur, the composite steering means further comprising second steering means comprising ground engaging alignment sensing means solely coupled by mechanical linkage means to the dirigible wheels by which steering turns less than said predetermined amount are caused to occur.
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25. An agricultural tractor comprising a power steering means and in-field steering means which responsively guides the tractor by directional feedback received from a guidance apparatus solely coupled by mechanical linkage means;
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the power-steered-tractor further comprising dirigible wheels; first tie rod means which connects the power steering means to the dirigible wheels; the solely mechanically linked guidance apparatus comprising a ground engaging sensor and second tie rod means which mechanically and directly communicate sensor-drived forces the dirigible wheels; and means for producing play between the power steering means and the in-field steering means whereby the dirigible wheels are controllably turned with a predetermined range by sensor derived forces without interfering with the power steering means.
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26. An agricultural tractor comprising power steering means and in field steering means which responsively guides the tractor by directional feedback received from a mechanically coupled guidance apparatus;
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the power-steered-tractor further comprising dirigible wheels; first tie rod means which connects the power steering means to the dirigible wheels; the mechanically coupled guidance apparatus comprising a ground engaging sensor and second tie rod means which mechanically and directly communicate sensor-derived forces to the dirigible wheels; means for producing play between the power steering means and the in field steering means whereby the dirigible wheels are controllably turned within a predetermined range by sensor derived forces without interfering with the power steering means; and the first tie rod means further comprising outer and inner telescopically interrelated members each of which defines a plurality of alignable, dimensionally similar apertures. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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41. An agricultural tractor comprising:
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a power steering means and in-field steering means which responsively guides the tractor by directional feedback received from guidance apparatus solely coupled by mechanical linkage means; the power-steered-tractor further comprising dirigible wheels; tie rod means which connect the power steering means to the dirigible wheels; the solely mechanically linked guidance apparatus comprising a ground engaging sensor and directly connecting dirigible means which mechanically and directly communicate sensor-derived forces to the dirigible wheels; and means for producing play between the power steering means and the in-field steering means whereby the dirigible wheels controllably turned within a predetermined range by sensor derived forces without interfering with the power steering means.
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42. An agricultural tractor comprising:
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a power steering means and in field steering means which responsively guides the tractor by directional feedback received from a mechanically coupled guidance apparatus; the power-steered-tractor further comprising dirigible wheels; tie rod means which connect the power steering means to the dirigible wheels; the mechanically coupled guidance apparatus comprising a ground engaging sensor and directly connecting dirigible means which mechanically and directly communicate sensor-derived forces to the diribgible wheels; means for producing play between the power steering means and the in field steering means whereby the dirigible wheels are controllably turned within a predetermined range by sensor derived forces without interfering with the power steering means; and
;the tie rod means further comprising outer and inner telescopically interrelated members each of which defines a plurality of alignable, dimensionally similar apertures. - View Dependent Claims (43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54)
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55. A method for operating an agricultural tractor comprising the steps of;
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(1) steering the tractor into alignment with a ground line; (2) lowering an automatic in-field steering sensor in to contact with the ground line; (3) displacing the tractor to gernerally follow the ground line while turning dirigible wheels of the tractor solely responsive to direct feedback from mechanical linkage means coupled to the ground engaging sensor; (4) lifting the automatic steering sensor from contact with the ground mark; (5) steering the tractor into alignment with a second ground line; and (6) repeating the aforestated steps (2) through (4).
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56. A method of equipping a tractor with an automatic, tractor guidance system comprising the steps of:
- p1 disassembling a telescoping steering rod assembly which comprises outer and inner telescoping members;
slidably positioning cylindrical steps along each inner member such that, as the members telescopically shorten, each outer member moves toward each cylindrical stop and reassembling the tractor'"'"'s primary, telescoping steering rod assembly; affixing the stops such that a predetermined amount of play is permitted in the telescoping steering rod assembly; and attaching a ground engaging in field sensor and associated in field secondary steering rod assembly.
- p1 disassembling a telescoping steering rod assembly which comprises outer and inner telescoping members;
Specification