Positioning system particularly useful for positioning agricultural implements

• US 4,835,691 A
• Filed: 09/11/1987
• Issued: 05/30/1989
• Est. Priority Date: 09/11/1987
• Status: Expired due to Term

• Current Assignee: BHC Manufacturing Co. (Deere & Company)
• Original Assignee: Sentop Limited
• Inventors: Silberg, Etan, Rotem, Abraham, Israeli, Shaul
• Primary Examiner(s): Mis, David
• Application Number:
  US07/095,072
• Time in Patent Office: 627 Days
• Field of Search: 364/424, 239/77, 239/78, 239/722, 239/743, 47/1.5, 47/1.7, 47/2, 118/323, 118/663, 118/668, 118/672, 180/167, 180/168, 180/169, 250/202
• US Class Current: 701/23
• CPC Class Codes: A01B 69/004 automatic
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931

Abstract

A positioning system for positioning a movable body, such as an agricultural implement, with respect to a reference path constituted of at least one line of objects or a linear object, such as rows of crops. The system comprises a signal-echo distance-measuring device on the movable object and including a receiver for receiving an input signal representing the distance of the movable object in one direction from the reference path, and an input signal representing the distance of the movable object in the opposite direction from the reference path. The system compares both measured distances, and positions the movable object towards or away from the reference path to equalize the two measured distances.

Claims

1. A positioning system for positioning a movable body with respect to a reference path constituted of at least one line of subjects or a linear object, comprising:

a signal-echo distance-measuring device to be located on the movable object and including receiver means for receiving two input signals, one input signal representing the distance of the movable object in one direction from the reference path, and the other input signal representing the distance of the movable object in the opposite direction from the reference path;

comparing means for comparing both measured distances;

a positioning device for positioning the movable object towards or away form the reference path;

and a control system controlling the positioning device in response to said comparing means for controlling the movable object to equalize said two measured distances;

said reference path being defined by a single line of objects or a single linear object, and said movable body straddling said reference path and being maintained at equal distances from the two opposite sides of said reference path.

5. The positioning system according to claim 1, wherein said signal-echo distance measuring device includes two channels each including a sensor receiving and processing one of said two input signals representing the distance of the two sensors from said one or more rows of crops.

6. The positioning system according to claim 5, wherein each of said two channels includes averaging means for averaging a plurality of said measured distances and for transmitting the average value to said comparing means.

7. The positioning system according to claim 6, wherein each of said channels includes a comparator to determine that each measured distance is above a selected minimum and below a preselected maximum, and means for inputting into said averaging means only such measured distances so determined by said comparator.

8. The positioning system according to claim 7, wherein each of said channels further includes a counter counting the number of measured distances which are above the preselected maximum, and when said latter count in either channel exceeds a predetermined number, transmitting to said comparing means substitute value based on a preselected fixed value, rather than the average measured value, for the respective channel.

9. The positioning system according to claim 8, wherein said comparing means comprises:

a first logical circuit for adding the measured distances of the two channels;

a second logical circuit for subtracting the measured distances of the two channels;

a first comparator to determine whether the sum of the two measured distances is above a predetermined minimum and below a predetermined maximum;

a second comparator to determine whether the difference between the two measured distances is above a predetermined minimum and below a predetermined maximum;

a third comparator to determine the channel having the larger measured distance;

and a gating means actuated by said third comparator only if the output of the first comparator is above a predetermined minimum and below a predetermined maximum, and the output of said second comparator is not above a predetermined minimum and below a predetermined maximum.

10. The positioning system according to claim 8, wherein said reference path is defined by two rows of crops between which said agricultural implement is to be positioned, and wherein said preselected fixed value is the premeasured distance (k) between the two rows of crops;

said comparing means comprising;

a first circuit for determining the distance (L) of one sensor from one row of crops by subtracting from said preselected fixed value (k) the distance (R) measured from the other sensor to the other row of crops;

a second circuit for determining the distance (R) from the other sensor to the other row of crops by subtracting from said preselected fixed value (k) the distance (L) measured from the one sensor to the one row of crops;

a summing circuit for adding the distance L and R to produce the sum S;

a first comparator for determining whether the sum S is above a predetermined minimum (S_min) and below a predetermined maximum (S_max);

a subtracting circuit effective, when said first comparator circuit effective, when said first comparator determines that S is above S_min and below S_max, for subtracting distance R from distance L to produce the difference D;

a second comparator for determining whether the difference D is above a predetermined minimum (D_min);

a third comparator, effective when D is above D_min, to determine whether the difference is positive or negative;

and gating means controlling said control system and positioning device to position the agricultural implement in one direction when said difference D is positive, and in the opposite direction when said difference D is negative.

11. The positioning system according to claim 1, wherein said control system comprises:

an oscillator generating correction pulses;

a hydraulic device for controlling said positioning means in each direction;

and a gate for said hydraulic device for feeding said correction pulses thereto under the control of said comparing means to equalize the measured distances on the opposite sides of the distance-measuring device to the adjacent rows of crops.

12. The positioning system according to claim 11, wherein said hydraulic device comprises:

a cylinder and a piston displaceable therein;

a pair of valves controlling the displacement of the piston in either direction within the cylinder;

and a relay controlling each of said valves and connected by its respective gate to receive the correction pulses outputted by said oscillator.

2. A positioning system for positioning an agricultural implement with respect to a reference path defined by one or more rows of crops, comprising:

a signal-echo distance-measuring device to be located on the agricultural implement and including receiver means for receiving two input signals, one input signal representing the distance of the agricultural implement in one direction from the reference path, and the other input signal representing the distance of the agricultural implement in the opposite direction from the reference path;

comparing means for comparing both measured distances;

a positioning device for positioning the movable object towards or away from the reference path;

and a control system controlling the positioning device in response to said comparing means for controlling the agricultural implement to equalize said two measured distances.

3. The positioning system according to claim 2, wherein said reference path is defined by at least two rows of crops, and said positioning device maintains said agricultural implement precisely centered with respect thereto.

4. The positioning system according to claim 2, wherein said reference path is defined by a single line of objects or a single linear object, and said movable body straddles said reference path and is maintained at equal distances from the two opposite sides of said reference path.

13. The positioning system according to claim 2, wherein said signal-echo distance-measuring device transmits and receives sonar pulses.

14. A positioning system for positioning an agricultural implement with respect to a reference path constituted of at least one row of crops, comprising:

a signal-echo distance-measuring device to be located on the agricultural implement and including a pair of sensors for measuring the distance of the agricultural implement in one direction or the opposite direction from the reference path;

comparing means for comparing both measured distances;

a positioning device, for positioning the agricultural implement towards or away from the reference path;

and a control system controlling the positioning device in response to said comparing means for controlling the agricultural implement to equalize said two measured distances.

15. The positioning system according to claim 14, wherein said reference path is defined by two rows of crops, and said positioning device maintains said agricultural implement precisely centered with respect thereto.

16. The positioning system according to claim 14, wherein each of said two channels includes averaging means for averaging a plurality of said measured distances and for transmitting the average value to said comparing means.

17. The positioning system according to claim 14, wherein each of said channels includes a comparator to determine that each measured distance is above a preselected minimum and below a preselected maximum, and means for inputting into said averaging means only such measured distances so determined by said comparator.

18. The positioning system according to claim 14, wherein each of said channels further includes a counter counting the number of measured distances which are above the preselected maximum, and when said latter count in either channel exceeds a predetermined number, transmitting to said comparing means substitute value based on a preselected fixed value, rather than the average measured value, for the respective channel.

19. The positioning system according to claim 18, wherein said preselected fixed value is the premeasured distance (k) between two rows of crops;

said comparing means comprising;

a first circuit for determining the distance (L) of one sensor from one row of crops by subtracting from said preselected fixed value (k) the distance (R) measured from the other sensor to the other row of crops;

a second circuit for determining the distance (R) from the other sensor to the other row of crops by subtracting from said preselected fixed value (k) the distance (L) measured from the one sensor to the one row of crops;

a summing circuit for adding the distances L and R to produce the sum S;

a first comparator for determing whether the sum S is above a predetermined minimum (S_min) and below a predetermined maximum (S_max);

a subtracting circuit effective, when said first comparator determines that S is above S_min and below S_max, for subtracting distance R from distance L to produce the difference D;

a second comparator for determining whether the difference D is above a predetermined minimum (D_min);

a third comparator, effective when D is above Dmin, to determine whether the difference is positive or negative;

and grating means controlling said control system and positioning device to position the agricultural device to position the agricultural implement in one direction when said difference D is positive, and in the opposite direction when said difference D is negative.

20. The positioning system according to claim 14, wherein said signal-echo distance-measuring device transmits and receives sonar pulses.