Electronic tractor guidance system

• US 4,366,756 A
• Filed: 09/09/1980
• Issued: 01/04/1983
• Est. Priority Date: 09/09/1980
• Status: Expired due to Term

• Current Assignee: Satake USA, Inc. (Satake Corporation)
• Original Assignee: Geo Source Inc.
• Inventors: Brum, Jerry W.
• Primary Examiner(s): Reese, Randolph
• Application Number:
  US06/185,410
• Time in Patent Office: 847 Days
• Field of Search: 104/244.1, 104/247, 180/79, 180/79.1, 180/79.3, 180/131, 180/167, 56/10.2, 56/DIG. 15, 172/23, 172/26, 340/53
• US Class Current: 104/244.1
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area

Abstract

An automatic tractor guidance system for controlling the steering of a tractor to follow a previously plowed furrow is disclosed. A furrow follower is provided with a sensor for sensing the direction of the path relative to the direction of travel of the tractor. The steering direction of the tractor is likewise sensed. The two sensor signals are combined and compared to a convergence frequency signal to produce a digital control signal. Each logic state of the control signal effects a turn in the steering of the tractor, right then left. If the duty cycle of the control signal is 50%, no net turn either right or left is effected. However, when the duty cycle deviates from 50%, a net rotation in one direction or the other will occur depending on which logic state of the digital signal occurs for a longer portion of each cycle of the control signal. Also provided is an offset adjustment to adjust the steering direction of the tractor to compensate for forces acting on the tractor which tend to change the direction of travel of the tractor without an accompanying steering control change.

Claims

1. An automatic guidance system for controlling the direction of travel of a tractor to follow a guide path by generating a steering control signal to control the steering direction of the tractor, the system comprising:

(a) a direction sensor connected to the tractor, for generating a path direction signal indicative of the direction of the path relative to the direction of travel of the tractor;

(b) a tractor steering means responsive to the steering control signal, for controlling the steering direction of the tractor;

(c) a tractor steering sensor connected to said steering means, for generating a steering direction of the tractor; and

(d) a control means responsive to said sensors, for generating the steering control signal, the steering control signal having a predetermined period with a variable duty cycle defined by an uninterrupted sequence of alternate time intervals of right and left turn steering corrections where the total time for each consecutive pair of right and left turn steering corrections is equal to the period of the steering control signal and where equal time intervals for the right and left turn steering corrections represents a 50% duty cycle so that the steering direction of the tractor is effected when the duty cycle of the steering signal deviates from the 50% duty cycle, said control means generating a variable amplitude convergence frequency signal where the amplitude of the convergence frequency signal determines the steering correction sensitivity of the guidance system to errors between the direction of the guide path and the direction of travel of the tractor by varying the rate of convergence of the steering direction to the direction of the path.

2. The guidance system of claim 1, wherein said tractor steering means includes a permanent magnet DC motor connected to the steering wheel assembly of the tractor for controlling the steering direction of the tractor in response to the steering control signal.

3. The guidance system of claim 1, wherein said direction and tractor steering sensors are each a rotary variable differential transformer.

4. The guidance system of claims 1, or 3, wherein said control means comprises:

(a) first and second amplifiers for respectively amplifying the path direction signal and the steering direction signal;

(b) an offset control, for generating an error offset voltage to compensate for external side forces acting on the tractor, said side forces tending to alter the tractor'"'"'s direction of travel without an accompanying change in the steering direction;

(c) a first differencing amplifier, for generating the difference between the output signal from said first amplifier and the error offset voltage, the output from said differencing amplifier comprising the furrow error signal;

(d) a steering error amplifier responsive to the output from said second amplifier and the furrow error signal, for generating a steering error signal;

(e) a convergence control oscillator, for generating the variable amplitude convergence frequency signal, the frequency of the convergence frequency signal determining the period of the steering control signal; and

(f) a comparison means responsive to the steering error signal and the convergence frequency signal, for generating the variable duty cycle steering control signal having the same fundamental frequency as the convergence signal, the duty cycle of the steering control signal varying as a function of the magnitude and polarity of the steering error signal.

5. The guidance system of claim 4, wherein said steering error amplifier comprises:

(a) a summing amplifier, for generating the sum of the amplified steering direction signal and the furrow error signal; and

(b) a second differencing amplifier, for generating the difference between the amplified steering direction signal and the furrow error signal, the output from either said summing amplifier or said second differencing amplifier selected to be the steering error signal.

6. The guidance system of claim 4, wherein said comparison means comprises:

(a) means for generating a turn right on signal during a first portion of the period of the steering control signal and a turn left on signal during the remaining portion of the period of the steering control signal, the first and second portions comprising binary states of the variable duty cycle steering control signal; and

(b) a power amplifier responsive to the turn right on and the turn left on signals, for generating power drive signals to said tractor steering means to effect control of the steering direction of the tractor.

7. The guidance system of claim 6, wherein said tractor steering means includes a DC motor connected to the steering wheel assembly of the tractor, said motor responding to the power drive signals to control the steering of the tractor.

8. In an automatic tractor guidance system for steering a tractor to follow a guide path, the tractor including,

(a) a steering means including a steering wheel for steering the tractor,

(b) sensors for sensing and generating signals of the travel direction of the tractor relative to the guide path, and of the steering direction of the tractor, and

(c) means for combining the sensor outputs to obtain a steering error signal whose magnitude and polarity respectively represents the amount of steering correction and steering correction direction required to bring the travel direction of the tractor back to the direction of a guide path,

an improvement comprising:

a means responsive to said steering error signal for generating a steering control signal for controlling the steering of the tractor through an uninterrupted sequence of steering turn corrections whereby the amount of steering correction and the direction of the steering correction direction of the tractor are controlled by the steering control signal as a function of time, said means generating a variable amplitude convergence frequency signal whose amplitude determines the steering correction sensitivity of the guidance system by enabling the rate of convergence of the direction of travel of the tractor to follow the guide path to be controlled at a given value of the steering error signal.

9. The system of claim 8 wherein said means for generating a steering control signal includes:

(a) a convergence rate oscillator for generating the variable amplitude convergence frequency signal having a predetermined constant period; and

(b) a comparator means responsive to the steering error signal and the convergence frequency signal for generating the time dependent steering control signal, said steering control signal having,

(i) the same period as the convergence frequency signal where each period is divided into two consecutive time portions, a first variable portion during which a right turn correction is effected and a second variable portion during which a left turn correction is effected, and

(ii) a variable duty cycle defined by the ratio of the first and second variable portions of each period where a 50% duty cycle represents equal first and second portions and results in no net steering correction to the tractor.

10. The system of claim 9 wherein said steering means includes a motor and wherein said comparator means includes a power amplifier responsive to the steering control signal for providing a drive signal to said motor to affect steering of the tractor,

(a) where deviation of the duty cycle from a 50% duty cycle results in a net steering correction to the tractor, and

(b) where the rate of convergence of the steering of the tractor to the direction of the guide path is a function of the magnitude of the deviation of the duty cycle from 50%.

11. The system of claim 10 wherein said motor is a permanent magnet DC motor connected to the steering wheel of the tractor.

12. The system of claims 8 or 11 wherein said sensors are each a variable differential transformer.

13. The system of claims 8 or 11 wherein said means for combining the sensor outputs to obtain a steering error signal includes a means for compensating for external side forces acting on the tractor where the side forces tend to alter the direction of travel of the tractor without an accompanying change in the steering direction.

14. A method of controlling a vehicle having a steering system including a steering wheel to follow a guide path comprising the steps of:

(a) sensing the steering direction of travel of the vehicle;

(b) sensing the direction of the guide path relative to the direction of travel of the vehicle;

(c) generating a steering error signal from the sensed direction of the guide path and the steering direction of the tractor, the steering error signal having,

(i) a magnitude representative of the amount of steering correction needed to steer the vehicle to follow the guide path, and

(ii) a polarity representative of the steering direction for the steering correction;

(d) generating a variable amplitude convergence frequency signal having a fixed time period;

(e) varying the amplitude of the convergence frequency signal to determine the steering correction sensitivity of the steering system for a given value of the steering error signal; and

(f) comparing the steering error signal to the convergence frequency signal to obtain a steering control signal for controlling the steering of the vehicle, the steering control signal having an uninterrupted sequence of alternate steering correction states in each period of the convergence frequency signal and a duty cycle defined by the ratio of the time for each state during each period where equal time intervals for the states during a period represents a 50% duty cycle, and where the steering direction of the vehicle is effected when the duty cycle deviates from 50% thereby controlling the steering of the vehicle as a function of time.

15. The method of claim 14 wherein the rate of convergence of the vehicle to follow the guide path is controlled by the amplitude of the convergence frequency signal.