CA1196711A - Terrain positioned tracking means and guidance sensor therefor - Google Patents
Terrain positioned tracking means and guidance sensor thereforInfo
- Publication number
- CA1196711A CA1196711A CA000419123A CA419123A CA1196711A CA 1196711 A CA1196711 A CA 1196711A CA 000419123 A CA000419123 A CA 000419123A CA 419123 A CA419123 A CA 419123A CA 1196711 A CA1196711 A CA 1196711A
- Authority
- CA
- Canada
- Prior art keywords
- housing
- sensing means
- vehicle
- filament
- pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
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- 230000007935 neutral effect Effects 0.000 claims description 10
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- 230000035515 penetration Effects 0.000 abstract description 9
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
TITLE
TERRAIN POSITIONED TRACKING MEANS
AND GUIDANCE SENSOR THEREFOR
INVENTOR
Zvi LIVNEH
ABSTRACT
In a particular species of the preferred embodiment, the invention contemplates a land traveller such as a farm tractor pulling a passive load such as a plough, disc or the like, and means for directing control of the path of travel of the same over a field, and also for regulating or controlling the depth of penetration of the plough or disc means into the surface of the ground according to a predetermined irrespective of the terrain profile. The path control means consists of locating in a predetermined way, a track whose position is sensed by sensing means, preferably an electromagnet, and the relative position of the magnet is sensed by appropriate means such as resistence measuring devices (strain guages or variable resistors or reostats), photoelectric devices whose values are decoded through a microprocessor or other means whereby steering of the prime mover along the predetermined path is maintained.
TERRAIN POSITIONED TRACKING MEANS
AND GUIDANCE SENSOR THEREFOR
INVENTOR
Zvi LIVNEH
ABSTRACT
In a particular species of the preferred embodiment, the invention contemplates a land traveller such as a farm tractor pulling a passive load such as a plough, disc or the like, and means for directing control of the path of travel of the same over a field, and also for regulating or controlling the depth of penetration of the plough or disc means into the surface of the ground according to a predetermined irrespective of the terrain profile. The path control means consists of locating in a predetermined way, a track whose position is sensed by sensing means, preferably an electromagnet, and the relative position of the magnet is sensed by appropriate means such as resistence measuring devices (strain guages or variable resistors or reostats), photoelectric devices whose values are decoded through a microprocessor or other means whereby steering of the prime mover along the predetermined path is maintained.
Description
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This invention relates to a ~racking system for vehicles and the like.
More particularly to a -tracking means partially terrainly positioned by which a land travelle:r such as a vehicle or tractor, or a marine traveller, such as a boat or other floating device, or even a lighter than air traveller, dirigible, may be dynamically controlled and positioned by directionaly controlling the same.
In -the preferred embodiment, and in the preferred variant thereof, a means may be either positionally located at or within an altitude or depth as may be predetermined for the particular case.
In a particular species of the preferred embodiment, the invention contemplates a land traveller such as a farm tractor pulling a passive load such as a plough, disc or the like, and means for directing control of the path of travel of the same over a field, ana also for regulating or controlling the depth of penetration of the plough or disc means into the surface of the ground according to a predetermined depth irrespective of the surface profile of the terrain. In another embodiment, the sensor regulates the lateral distance between the predetermined path and the actual path of travel.
The invention therefore contemplates a vehicle control system comprising (a) a filament of metalic material position in juxtapositon with the travelling surface, so as to trace ou-t a prede-termined course of travel;
(b) a prime mover mounted in a vehicle adapted to travel over -the surface and having means for steering the same to follow said course of travel;
(c) a magnet means moun-ted in a housing carried by the vehicle, that is magneti.cally responsive to the location of the said filament;
(d) a Eirst position sensing means, affixed to the magne-tic means, and moun-ted in the housing for sensing la-teral positioning, relative to the housing of said magnetic means;
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(e) first means responsive to the first position sensing means for driving said means for steering whereby to direct the travelling path of the prime mover in parallel to the path or course of the metalic filament.
The invention will now be described by way of example and reference to the accompanying drawings in which E'igure 1 is a side elevational view of the preferred embodirnent in operation.
Figure 2 is a perspective of one embodiment of a sensory device used to control both the path of travel and the depth penetration; while that of figure 10 is a similar view of an alternative embodiment.
Figures 3, 3A, 4 and 4A respectively are explanatory sections through figure 2.
Figure 5 is the electronic and hydraulic circuit diagram showing means to control the path of travel and the depth penetration of the preferred embodiment of figure 2.
Figure 6 is a plan profile of the grid layout in a farm field for control means.
Figure 6A is an exploded view of an intersection for the grid layout of figure 6.
Figure 7 illustrates another variant of sensor located directly on the prime mover, located with figure 11.
Figure 8 is an alternate to that of figure 6 of a plane profile of the grid layout of a field.
Figure 8A is a section along a grid line of either figure 6 or 8.
Figure 9 is the electronic and hydraulic circuit diagram showing an alternative means to control the path of travel and avoiding the need for a microprocessor and also the depth of penetration that is associated with the sensor of figure 10.
Figure 11 is an alternative embodiment of use for said sensors, wherein the prime mover is a floating vehicle; one whose effective weight is less than the weight of its displacement in the media of travel (Archimedes principle).
Referring to figures 1 and 6 in the preferred J
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embodiment, a terrain traveller 10 is illustrated comprising, a prime mover or tractor 12 pulling a passive vehicle such as a plough, disc or the like 14 with depending ground penetrating ploughs 17. Intermediate the tractor 12 and disc or plough means 14 is a sensor box 15 or housing which senses both horizontal location of and the vertical position of a metalic filament or magnetic track 20, which in the preferred embodiment is subterranean relative the upper profile or surface 19 of the ground or terrain 22. The sensor 15 may be mounted as shown as 15 in figure 1, or at alternative locations 17'' and 17''' in co-operation with an earth penetrating Eurrow, 17'' and 17''', adapted for carrying the sensor 15 within it, as more particularly described in reference to figure 7 hereafter. The magnetic filament or metalic track 20, which may be composed of a metalic ribbon or magnetic ribbon acts as a sensor control line 20 as will now be explained. On the other hand, the ploughs 17, which do not carry any sensors 15, are designed to penetrate the the depth d, which is a fixed distance D above the sensor control line 20. Thus, nydraulic means 30 is provided to regulate the depth of penetration d, of the discs or plough 17 into the soil so that the fixed distance D relative to the control line 20 is maintained in a manner as will be explained. Thus, if the upper profile of the ground has shifted because of errosion, distance d will vary but distance D will be maintained at a predetermined constant.
The sensor 15 consists of an electromagnet generally indicated as 40 whose attraction to the ferric ribbon or metalic ribbon or ferromagnetic control line 20 is sensed by three strain guages SGl, SG2 and SG3 each connected to one of its own branches of its own Wheatstone bridge B forming part of the electronic circuitry E of figure 5.
Referring to figure 5, there are three Wheatstone!
bridges Bl, B2 and B3 having fixed resistors in two of their arms, and strain guages S and SG, in their other respective arms. A balancing resistor R completes the circuit in order to allow the balancing of the~"null" of each of the Wheatstone bridges.
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Strain guages SGl and SG2 respectively sense the lateral movement of the magnet 40, as is seen in figure 3. The magnet 40 moves, for instance, in the direction of the arrows, when the magnetic or ferromagnetic conductor 20 is sensed not to be immediately beneath it. Hence, one oE the guayes SGl is stressed, while the other guage SG2 is strained. Misbalancing of bridges Bl and B2 takes place and the respective voltages from each bridge Bl and B2 are fed to microprocessor P which thereafter controls hydraulic circuitry H and flow valves FV
of figure 5.
The electromagnet 40, which in all the igures is illustrated only as a permanent magnet, for simplicity only, is attached to and carried by a horizontal bar 41 which makes connections to a third strain guage SG3, which through a horizontal member 42 affixes itself rigidly to the case or housing 45 of the sensor 15. The housing 45 is carried by a depending bracket member 4Ç and is affixed to the undercarriage of the plough 14 as seen in figure 1. Each of the strain guages SGl, SG2 and SG3 has two wires, not referenced, respectively connected, pursuant to the electrical circuit diagram of figure 5 to its appropriate Wheatstone bridge B. In order to "sense" and to compensate for ambient conditions, identical strain guages Sl, S2 and S3 are positioned and mounted against the housing 45 as shown in figure 2 and they are likewise electrically connected to each of one of the other arms of their own Wheatstone bridge B.
These latter strain guages, S, are not strainable or destrainable, but are placed in the environment so that their "drift", because of ambient condition such as temperature are transferred to their Wheatstone bridge in order to attempt to out "balance", drift from the Wheatstone bridge as is causedby ambient conditions and, hence, all the strain guages SG are . identical. Thus, only when the respective strain guage SG is appropriately stressed or destressed, will a "true" voltage appear across the u~per and lower limbs of the Wheatstone bridge, as conventionally known, and a differential signal conveyed to the microprocessor MP for analysis.
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....
Referring now to figure 5, and the hydraulic components, H, of that figure, there are two forward, reverse and transfer flow valves FVl and FV2 which control, in response to the commands provided by the microprocessor MP, hydraulic fluid flows from reservoir 75 via pump P. These valves FV are shown, in figure 5, in the neutral and non~communicating posi~ions.
The upper portion of figure 5H illustrates a hydraulic cylinder 60 and the lower portion hydraulic cylinder 30, the former cylinder 60 controls steering, the latter cylinder 30,controls the vertical lift of the plough 14 relative to the track 20 and hence the changing depth of penetration d, tmaintaining the distance D from the control line 20). Thus~
when the bridge B3 is out of balance, and depending upon which way it i5 out of balance, the microprocessor MP will cause the .~ flow valve FV2 to step and to cause hydraulic fluid to flow -~ into the piston 30 causing it to extend and, hence, to "lift"
the discs or ploughs 17 (to diminish the distance d) or, alternatively, to "penetrate" and to increase the distance d.
Typically, therefore, the hydraulic cylinder 30 is communicated to, on opposite sides of its movable piston 31 with 10w control branches each cons~sting of a free flow valve, 50, only in one direction, and a metering valve 51, p~rallel therewith. When either of the flow valves FV are caused to be moved laterally, either left or right, in response to the command from the microprocessor MP, cylinders 60 or 30 will move, to extend or to contract in a responding manner.
Referring now to cylinder 30, it consists of the piston 30 31 and cylinder rod 32 which, as seen in figure 1, attaches itself directly to the idler wheel 18 of the plough 1~, while the housing 33 of the cylinder 30 is welded to the upper .~ framework of the plough 1~. The housing 33 communicates on ' opposite sides o the piston 31 to equivalent pairs, in parallel, of the one way flow valve 50, and a metering valve 51 which generally, when the flow valve FV2 is not activated, eeds to the "neutral" position of that valve as illustrated in figure 5. ~hen the microprocessor MP causes the valve FV2 to move, hydraulic fluid is pumped to one side of the piston 31 and drained from the other through the metering valve 51 of the opposite branch. Instant "filling" of the appropriate side is achieved by the one way flow valve 50, while "slow drain" of the opposite side takes place because o the~
metering valve 51 in that limb. Thus, in the embodiment illustrated, depending upon the voltage output of Wheatstone bridge B3, in response to the strain placed on strain guage SG3 by the magnet 40, the microprocessor MP will cause the fluid flow valve FV2 to be positioned in such a manner as to locate the piston rod 32 in such a position to place the ploughs 17 at the appropriate and predetermined fixed clistance D from the underlying control track 200 Similarily, the equivalent cylinder 60 consists of a movable piston 61, with extending piston rod 62, and housing 63, making appropriate fluid connection through one way valves 50 and metering valves 51 to flow valve FVl. That flow valve FVI is controlled by the microprocessor MP in response to the voltage output of bridges Bl and B2 that respond to the strain and stress on respective strain guages SGl and SG2 depending upon the lateral position of the tractor 12 over the track 20. Since the rod 62, is attached to the stearing system (not clearly shown in any of the figures) or servo-mechanism or solenoid actuators, of the tractor 12, the tractor will track along and, thus be steered along and over the underlying track 20.
If the wire 20, and referring to figure 6, is laid out as shown beneath the surface of the ground 19 of a field 25, there are grid intersections 26, but the tractor 12 may be caused to plough the fielcl F and will track along the gridwork 20 and traverse the intersections 26 if the grid is laid out in a manner similar to that as shown in figure 6.
~ eferring to fi~ure 6A, in order to "sense" turning locations and intersections 26, standard iron bars CB are placed near the radius oE curvature "r" and where a double standard iron bar CB is used, a double "pulse" is generated by all Wheatstone bridges Bl, B2 and B3 as the sensor 15 travels over then, and these pulses are conveyed to the processor P, which according to its preprogramed memory will determine whether a "turn" should take place along radius r from track 20' to track 201. In this way, and referring to figure 6, a complete field F, using the simple expedient of crossing ~ilament tracks 20 can be ploughed when that track 20 is subterraneanly located.
Where the path of travel oE the vehicle, other than a tractor, is required, and there is no "ploughing" to take place, the track may be located upon the surface of the ground whether it be paved or not. In such a way, therefore, and using only one Wheatstone bridge and two sensors, say SGl and Sl, the path of a motor vehicle such as an automobile, along a highway may be simplistically controlledO
In another embodiment, and referring to figures 7, through 10, the sensor means 15 may be located on the prime mover vehicle 12 it~elf has a furrow 17' or the like so as to extend below the vehicle to wit; in this embodiment, to also penetrate into the ground, and includes means for regulating the instance of penetration OL the furrow 17' as, for example, by a simple expedient of a hydraulic cylinder 35. In that respect, the furrow 17' is carried by a vertical member ~6 that is appropriately hinged at 47 to the tractor 12 for pivotal mo~ement relative thereto. In such an environment, the tractor 12 can pull a passive trailer, for instance, spraying equipment, or harvesting machinery, along the predetermined path 20 of figure 6, or that of figure 8, as the case might be, and still use the same guide control grid or path; namely, the subterranean track 20 of either of said figures. This furrow 17' is also illustrated in phantom in figure 1 as 17'', to demonstrate its alternative use when a trailing plough is used.
Referring to figures 8 and 8A and to a simpler grid layout for the track 20, it may follow a general undulating path in plan view, from a start point 28 located on the surface lg of the ground 22, to an exit point 29, also located " ~3~7i~
on the surface 19 of the ground, so that there is a minimum of track crossover points 26 eg. only one. In this embodiment, about the ~ield F, is a perimeter road 40 that boarders an edge 43 defining a ploughable region, PR, in which cultivars may be grown in the field F. The track 20, exterior oE the ploughable region, PR, and hence on the perimeter o~ road 40, is placed on the surface 19 to form a track segment 20l while in the ploughable region, P~, the track 20 transcends quickly down a transition path 20''' to the subterranean depth (D +
10 d) as at 20'' of figure 8~ (this is shown as dotted lines 20 in figure 8). When this type of grid configuration and layout is used, the sensor 15 must itself track at a predetermined precise elevation, the track 20, that is the fixed distance D
(and also the "variable" distance d) and, hence, the need for the pivoting arm 46 and the operationally movable cylinder 35 of figure 7 so that the furrow 17' and its containing (or encapsulated) sensor 15 may be positioned at the given distance D above the track ~0 irrespective of whether the track 20 is on the surface 19 as at 20', or fixedly, at a predetermined distance ~d + D), belo~ the surface as at 20'' or negotiating the transition path 207'' therebetween. The control circuitry as earlier described in relation to figure 5 could be used for such operation.
Alternatively, and eliminating the need for the microprocessor MP, reference will now be made to figures 9 and 10. Particularly, referring to figure 10, the sensor 15 is contained within the housing 45 and consists, once again, of a magnet 40 (electromagnet or permanent), that is suspendedly constrained in the vertical and horizontal planes or positions by respective vertical members 42 and horizontal members 44.
The horizontal members 44 attach themselves to independant laterally moving switch arms o~ two horizontally poised microswitches Ml and M2 so as to sense the lateral migration of the magnet 20 from a predetermined norm. Similarily, there are vertically positioned microswitches M3 and M4 also carried by the housing ~5 as shown in that figure whose vertically moving switch arms respectively extend into the horizontal .
:~3 7~,3 f '`
. IL 's.~
members 43, that make terminal rigid connection to each of the vertical members 42. These latter two microswitches M3 and M4 sense the relative vertical position of the magnet 40. rt will be appreciated that the magnet 40 will move vertically in response to the vertical proximity of the sensor track 20 and also move laterally in response to the lateral location of the track 20. When these microswitches Ml through M4 are appropriately connected in an electrical and hydraulic configuration analagous to that illustrated in figure 9; a manner somewhat similar to that disclosed with reference to ~igure 5, the steering cylinder 60 will cause the movement of the piston rod 62 and, hence, "steer" the steering linkage 65 which will track the prime mover 12 along the undulating path of travel o~ the track 20.
The vertically sensing microswitches M3 and M~ will sense and control the two cylinders 30 and 35. In the embodiment of figure 7, only the cylinder 35 is utilized to move the piston rod 37 of that cylinder 35 and, hence, the forrow 17' into and out of penetrating engagement with the ground 22 so as to maintain a fixed relation, distance D, above the track 20.
In figure 9, the control circuitry of the implement lifting cylinder 30 is contained within the box B. Thus, it will be seen that the embodiments of figures 7 and 1 could be combined so as to provide a sensor control, either on the plough, or trailing vehicle as shown in figure 1, or, as shown in Eigure 7; the plough or trailing vehicle not being illustrated in figure 7 for reasons of simplicity.
~ lso referring to figure 9, there are a number of circuit breakers 90 illustrated, each connected to the common battery source 100 (which could be the prime mover main battery), so that the sensor 15 is activated when the switches 90 are in the closed position as shown in that figure. When they are open, the circuit is inoperative. The prime mover then may be used; in the conventional manual manner, by a human to drive and steer the tractor.
Further, when the embodiment of figure 7 is used to pull `~J
~31 9~7:~
the plough of figure 1, it is necessary that there be some ~Itimers~ which would control, that is to delay, penetration and withdrawal of the ploughs 17 of figure 1 into the soil after the sensor 15, contained in the furrow 17', has sensed the change in elevation of the track 20 as along transition gradient 20''' between the surface 20' and the subterranean location 20 ". These timers, T, in figure 9 are placed in the circuit with the microswitches M3 and M4 to appropriately control the response of the cylinder 30 as required.
It will be apparent, now to those skilled in the art, that if, in fact, the prime mover of figure 7 were, in fact a boat or other water floating vehicle, and the grid pattern or path of figures 6 or 8 were, in fact, a grid pattern or path placed in a water media, as on the floor of a seabed, the furrow 17' of figure 7, would suspend from the bottom of the boat and, instead of a steering mechanism for wheels1 there would be a steering mechanism for a rudder of a boat, thus figure 11~
Those skilled in the art will know that the flow valves, FV, are what are colloquially known as electrically operated hydraulic direction control valves, three position, spring centred. ~They will further appreciate that other variations of this invention may take place without deviating from the embodiments as claimed.
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- lOa-SUPPLEMENT~RY DISCLOSU~E
Further embodiments to the invention will now be described with reEerence to a more simplified sensing unit than that earlier disclosed and as well to water travelling vehicles, and in particular to a submersible vehicle.
The invention, therefore, additionally contemplates a magnetic rocker sensor, with magnetic sensing means spacially disposed in a common plane, and switch means activated by the relative angular position of said sensor.
The invention further additionally contemplates a vehicle control system comprising (a) a filamentt whose composition has ingredients selected from, a ferrous, ferric, or metalic material, located in three dimensional space so as to trace out a predetermined course of travel;
(b) a prime mover mounted in the vehicle and having means for steering and for regulating the relative elevational position of the same so as to follow said course;
(c) a magnet means mounted in a housing carried by the vehicle, that is magnetically responsive to the location of the said filament;
(d) a first position sensing means, affixed to the magnetic means, and mounted in the housing for sensing lateral and elevational positions, relative to the housing of said magnetic means; and, l (e) first means responsive to the first position sensing means for driving said means for steering anc, ! for elevational positioning, whereby to direct the travelling path of the vehicle along the path of the filament.
The additional embodiments will now be described by way ; of example and reference to the additional drawings in which;
Figure 12 is a more simplified sensor unit.
Figure 13 is a cross-section along lines XIII-XIII of figure 12.
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lOb -~ igure 14 is an elevational view of a submarine employing a guidance system according to ny invention.
Figure 15 is a plan view of the submarine of Eigure 14.
Figure 16 is a perspective view of the guidance unit housing or drone used with the submarine of figures 1~ and 15.
Figure 17 is a perspective view of figure 16 partially in section.
Fiyure 18 is a perspective, partially in section, of the guidance unit sensing head.
Figure 19 is a section along XIX-XIX of figure 18.
Figure 20 is a partial elevational view of the telescoping boom for the guidance unit.
Figure 20A is the same elevational view as in Figure 20, boom extended.
Figure 21 is an electrical circuit diagram for submarine control.
The simplified sensor of figures 12 and 13 may be preferably used where a vehicle such as an automobile, or other self-priming mover, normally travels cver a hard surface 40', such as asphalt, concrete and the like. The metalic or magnetic track, in ribbon form 20 is disposed to define the path of travel for the vehicle and may be embedded into the surface as shown or secured to the top thereo~. The sensor 15 consists of a rocker 90 with a cross-sectional shape in the form of an "I" beam with an upper rocker member 91 and a lower rocker member 92. The rocker 90 pivots about a pin or pivot point 93 which is a shaft protruding from the housing 45 of the sensor 15. Depending from the lower rocker members 92 are two rnagnets, oppositely disposed, respectively magnets Ml ancl Mr. Superadjacently disposed, above rocker member 91 are two microswitches Ml and M2, of the mercury type. If perchance the vehicle moves to the right, and referring to figure 13, magnet Ml finds itself above the track 20 (and for purposes of illustration, it is shown that the track is in the apparent position 20'). As a result the rocker 90 will rotate counterclockwise and close microswitch M2. It will be obvious, therefore, that when the vehicle is moved to the ~ ,,.
-- lOc --right so that the magnet Mr is over the track 20 and hence, in the apparent position 20'', counterclockwise rotation of the rocker 90 will occur and microswitch M2 will open and Ml will close. By appropriate circuitry, synonymous with that illustrated in figures 5, 9 or 10 or any apparent variation thereof the vehicle may be controlled to travel along the path 20.
The advantages to the simplified sensor of figures 12 and 13 is that it provides simple sensing, at a very reduced cost, and is to be preferred in a number of more simplistic applications.
Referring now particularly to water travelling vehicles and to a submersible submarine and to figure 14, a submarine 112 is submersible in the ocean 100 and pulls a drone, a sealed guidance unit 115 at the distal end of an articulating and telescoping boom 120. The upper portion of the boom 120 is attached for pivotable connection to the underside of the submarine through a pitch,roll and yaw sensing head 130, while the lower distal end of the boom 120 attaches through a bearing head 140 to the sensing unit housing 115. The boom 120, itself may be cylindrical and its lower portion 12~ can slide into its upper portion 125, thereby providing a variable length boom. Referring to figure 20, a stop means 126 is provided so as to stop penetrating telescoping movement of the lower boom member 124 into the upper boom member 125 as required. An ambilical cord 150 which conveys tracking and guidance information between the guidance unit 115 and the submarine 112 is suspended along the boom and will be describec1 in greater detail hereafter.
Along the floor of the sea is a metalic filament or magnetic track 220 over which control unit 115 travels in a manner as earlier explained in relation to the earlier embodiments.
Referring to figure 16, the guidance unit housing 115 has a rear articulating or tail fin 155, lateral articulating flap fins 165, and a fixed lower depending pectoral fin 175.
The rear fin 155 directs the path of travel of the guidance , ,..~
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- 10d -unit 115 over the metalic track 220 and the lateral fins 165 maintain the guidance unit 115 at a predetermined distance from submersible track 220 in a manner as will become apparent.
Referring to figure 17, the tail fin 155 is driven by a reversible ~C motor 156 having a worm sector steering system with a worm gear 157 and a worm sector gear 158 travelling thereon to turn the fin 155 left or right depending upon the relative lateral position of the sector gear 158 on the worm gear 157.
Similarily, the lateral fins 165 are driven up and down by a reversible DC motor and by a similar worm and sector arrangement 167 and 168.
On the belly of the submarine 112 is a pitch, roll and yaw sensing head 130 that consists of a swivel plate 131 which is adapted to roll around in a channel and race 132 that is carried by the body of the submarine 112. A pair of variable resistors RHl and RH2 coaxially mounted with a common shaft 135 are affixed to the floor 131 which is adapted to rotate, on the race and channel 132 whereby to allow to boom 1~2 to seek relative lateral angle ~ depending upon the relative position of the submarine 112 vis a vis the sensing unit 115 as illustrated in figure 13. The upper member 122 of the boom 125 pivotally mounts in a pivot means 138 to which a shaft 139 of a third variable resistor RH3 is affixed. Depending upon the relative angle, ~ , of the boom vis a vis the submarine 112, see figure 12; the resistor RH3 will find its own resistence. Inside the boom and referring to figure 20A, is a staln guage resistance ~4 on a potentiometer which, depending upon the relative telescoping position of the boom, varies the resistance in strain guage resistor R for means providing measurement as to the precise length of the boom.
Referring now to the circuit diagram of figure 21, the microprocessor MP is located in the drone 115, and controls the horizontal and vertical fins of the drone so that the drone 115 is constantly positioned over the submerged cable 220 in a manner as illustrated in figures 14 and 15. Thus, the ~9~1 - lOe -drone itself contains, in a like manner as described with reference to figure 5, strain guages Sl and SGl; S2 and SG2;
S3 and SG3; Wheatstone bridges and the like which convey the actual data of the sensor within the drone, equivalent to that of figures 2 and 3 for determining the relative position of the drone over the cable. Resulting voltages are fed into the microprocessor MP located in the drone. Simultaneously, it is necessary to determine pitch, roll and yaw at the sensing head 130 and hence the values oE the resistors R~l, RH2 and RH3 are also fed into the microprocessor MP by means of the umbilical cord 150. Also the relative distance of extension of the boom 124 is required and hence the resistence of the strain resistor R~. Values, therefore, of these latter 4 resistors will determine the angle ~ , the angle ~ , and the relative distance of the drone from the submarine. These values are computed by the microprocessor MP and the microprocessor MP
activates the vertical and horizontal fins (respectively indicated as Vd and Vh in figure 21) by activating the reversible DC motors 156 and 166. The computed information from the microprocessor MP is fed back, up the umbilical cord 150 to the submarine microprocessor SP whereby to control the submarine horizontal and vertical attitudes by appropriate circuitry indicated in figure 21 as Vs and Vh.
The submarine microprocessor SMP may be controlled, as those skilled in the art may wish to place the submarine at a given elevation relative to the sea bottom and hence the drone will drift at a predetermined distance above the submarine cable 220 as illustrated in the phantom portion of fig~lre l~.
Those skilled in the art will also now appreciate, that the submarine, in fact, could be riding on top of the surface of the ocean 100, rather than submerged therein as illustrated in figure l~ without significantly deviating from the embodiments of the invention so long as the boom length of the boom 120 can be extended sufficiently so that the drone 115 will be within sensing distance of the filament 220.
It should now be appreciated that other variations of the invention may be achieved without deviating from the invention as claimed.
This invention relates to a ~racking system for vehicles and the like.
More particularly to a -tracking means partially terrainly positioned by which a land travelle:r such as a vehicle or tractor, or a marine traveller, such as a boat or other floating device, or even a lighter than air traveller, dirigible, may be dynamically controlled and positioned by directionaly controlling the same.
In -the preferred embodiment, and in the preferred variant thereof, a means may be either positionally located at or within an altitude or depth as may be predetermined for the particular case.
In a particular species of the preferred embodiment, the invention contemplates a land traveller such as a farm tractor pulling a passive load such as a plough, disc or the like, and means for directing control of the path of travel of the same over a field, ana also for regulating or controlling the depth of penetration of the plough or disc means into the surface of the ground according to a predetermined depth irrespective of the surface profile of the terrain. In another embodiment, the sensor regulates the lateral distance between the predetermined path and the actual path of travel.
The invention therefore contemplates a vehicle control system comprising (a) a filament of metalic material position in juxtapositon with the travelling surface, so as to trace ou-t a prede-termined course of travel;
(b) a prime mover mounted in a vehicle adapted to travel over -the surface and having means for steering the same to follow said course of travel;
(c) a magnet means moun-ted in a housing carried by the vehicle, that is magneti.cally responsive to the location of the said filament;
(d) a Eirst position sensing means, affixed to the magne-tic means, and moun-ted in the housing for sensing la-teral positioning, relative to the housing of said magnetic means;
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(e) first means responsive to the first position sensing means for driving said means for steering whereby to direct the travelling path of the prime mover in parallel to the path or course of the metalic filament.
The invention will now be described by way of example and reference to the accompanying drawings in which E'igure 1 is a side elevational view of the preferred embodirnent in operation.
Figure 2 is a perspective of one embodiment of a sensory device used to control both the path of travel and the depth penetration; while that of figure 10 is a similar view of an alternative embodiment.
Figures 3, 3A, 4 and 4A respectively are explanatory sections through figure 2.
Figure 5 is the electronic and hydraulic circuit diagram showing means to control the path of travel and the depth penetration of the preferred embodiment of figure 2.
Figure 6 is a plan profile of the grid layout in a farm field for control means.
Figure 6A is an exploded view of an intersection for the grid layout of figure 6.
Figure 7 illustrates another variant of sensor located directly on the prime mover, located with figure 11.
Figure 8 is an alternate to that of figure 6 of a plane profile of the grid layout of a field.
Figure 8A is a section along a grid line of either figure 6 or 8.
Figure 9 is the electronic and hydraulic circuit diagram showing an alternative means to control the path of travel and avoiding the need for a microprocessor and also the depth of penetration that is associated with the sensor of figure 10.
Figure 11 is an alternative embodiment of use for said sensors, wherein the prime mover is a floating vehicle; one whose effective weight is less than the weight of its displacement in the media of travel (Archimedes principle).
Referring to figures 1 and 6 in the preferred J
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embodiment, a terrain traveller 10 is illustrated comprising, a prime mover or tractor 12 pulling a passive vehicle such as a plough, disc or the like 14 with depending ground penetrating ploughs 17. Intermediate the tractor 12 and disc or plough means 14 is a sensor box 15 or housing which senses both horizontal location of and the vertical position of a metalic filament or magnetic track 20, which in the preferred embodiment is subterranean relative the upper profile or surface 19 of the ground or terrain 22. The sensor 15 may be mounted as shown as 15 in figure 1, or at alternative locations 17'' and 17''' in co-operation with an earth penetrating Eurrow, 17'' and 17''', adapted for carrying the sensor 15 within it, as more particularly described in reference to figure 7 hereafter. The magnetic filament or metalic track 20, which may be composed of a metalic ribbon or magnetic ribbon acts as a sensor control line 20 as will now be explained. On the other hand, the ploughs 17, which do not carry any sensors 15, are designed to penetrate the the depth d, which is a fixed distance D above the sensor control line 20. Thus, nydraulic means 30 is provided to regulate the depth of penetration d, of the discs or plough 17 into the soil so that the fixed distance D relative to the control line 20 is maintained in a manner as will be explained. Thus, if the upper profile of the ground has shifted because of errosion, distance d will vary but distance D will be maintained at a predetermined constant.
The sensor 15 consists of an electromagnet generally indicated as 40 whose attraction to the ferric ribbon or metalic ribbon or ferromagnetic control line 20 is sensed by three strain guages SGl, SG2 and SG3 each connected to one of its own branches of its own Wheatstone bridge B forming part of the electronic circuitry E of figure 5.
Referring to figure 5, there are three Wheatstone!
bridges Bl, B2 and B3 having fixed resistors in two of their arms, and strain guages S and SG, in their other respective arms. A balancing resistor R completes the circuit in order to allow the balancing of the~"null" of each of the Wheatstone bridges.
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Strain guages SGl and SG2 respectively sense the lateral movement of the magnet 40, as is seen in figure 3. The magnet 40 moves, for instance, in the direction of the arrows, when the magnetic or ferromagnetic conductor 20 is sensed not to be immediately beneath it. Hence, one oE the guayes SGl is stressed, while the other guage SG2 is strained. Misbalancing of bridges Bl and B2 takes place and the respective voltages from each bridge Bl and B2 are fed to microprocessor P which thereafter controls hydraulic circuitry H and flow valves FV
of figure 5.
The electromagnet 40, which in all the igures is illustrated only as a permanent magnet, for simplicity only, is attached to and carried by a horizontal bar 41 which makes connections to a third strain guage SG3, which through a horizontal member 42 affixes itself rigidly to the case or housing 45 of the sensor 15. The housing 45 is carried by a depending bracket member 4Ç and is affixed to the undercarriage of the plough 14 as seen in figure 1. Each of the strain guages SGl, SG2 and SG3 has two wires, not referenced, respectively connected, pursuant to the electrical circuit diagram of figure 5 to its appropriate Wheatstone bridge B. In order to "sense" and to compensate for ambient conditions, identical strain guages Sl, S2 and S3 are positioned and mounted against the housing 45 as shown in figure 2 and they are likewise electrically connected to each of one of the other arms of their own Wheatstone bridge B.
These latter strain guages, S, are not strainable or destrainable, but are placed in the environment so that their "drift", because of ambient condition such as temperature are transferred to their Wheatstone bridge in order to attempt to out "balance", drift from the Wheatstone bridge as is causedby ambient conditions and, hence, all the strain guages SG are . identical. Thus, only when the respective strain guage SG is appropriately stressed or destressed, will a "true" voltage appear across the u~per and lower limbs of the Wheatstone bridge, as conventionally known, and a differential signal conveyed to the microprocessor MP for analysis.
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....
Referring now to figure 5, and the hydraulic components, H, of that figure, there are two forward, reverse and transfer flow valves FVl and FV2 which control, in response to the commands provided by the microprocessor MP, hydraulic fluid flows from reservoir 75 via pump P. These valves FV are shown, in figure 5, in the neutral and non~communicating posi~ions.
The upper portion of figure 5H illustrates a hydraulic cylinder 60 and the lower portion hydraulic cylinder 30, the former cylinder 60 controls steering, the latter cylinder 30,controls the vertical lift of the plough 14 relative to the track 20 and hence the changing depth of penetration d, tmaintaining the distance D from the control line 20). Thus~
when the bridge B3 is out of balance, and depending upon which way it i5 out of balance, the microprocessor MP will cause the .~ flow valve FV2 to step and to cause hydraulic fluid to flow -~ into the piston 30 causing it to extend and, hence, to "lift"
the discs or ploughs 17 (to diminish the distance d) or, alternatively, to "penetrate" and to increase the distance d.
Typically, therefore, the hydraulic cylinder 30 is communicated to, on opposite sides of its movable piston 31 with 10w control branches each cons~sting of a free flow valve, 50, only in one direction, and a metering valve 51, p~rallel therewith. When either of the flow valves FV are caused to be moved laterally, either left or right, in response to the command from the microprocessor MP, cylinders 60 or 30 will move, to extend or to contract in a responding manner.
Referring now to cylinder 30, it consists of the piston 30 31 and cylinder rod 32 which, as seen in figure 1, attaches itself directly to the idler wheel 18 of the plough 1~, while the housing 33 of the cylinder 30 is welded to the upper .~ framework of the plough 1~. The housing 33 communicates on ' opposite sides o the piston 31 to equivalent pairs, in parallel, of the one way flow valve 50, and a metering valve 51 which generally, when the flow valve FV2 is not activated, eeds to the "neutral" position of that valve as illustrated in figure 5. ~hen the microprocessor MP causes the valve FV2 to move, hydraulic fluid is pumped to one side of the piston 31 and drained from the other through the metering valve 51 of the opposite branch. Instant "filling" of the appropriate side is achieved by the one way flow valve 50, while "slow drain" of the opposite side takes place because o the~
metering valve 51 in that limb. Thus, in the embodiment illustrated, depending upon the voltage output of Wheatstone bridge B3, in response to the strain placed on strain guage SG3 by the magnet 40, the microprocessor MP will cause the fluid flow valve FV2 to be positioned in such a manner as to locate the piston rod 32 in such a position to place the ploughs 17 at the appropriate and predetermined fixed clistance D from the underlying control track 200 Similarily, the equivalent cylinder 60 consists of a movable piston 61, with extending piston rod 62, and housing 63, making appropriate fluid connection through one way valves 50 and metering valves 51 to flow valve FVl. That flow valve FVI is controlled by the microprocessor MP in response to the voltage output of bridges Bl and B2 that respond to the strain and stress on respective strain guages SGl and SG2 depending upon the lateral position of the tractor 12 over the track 20. Since the rod 62, is attached to the stearing system (not clearly shown in any of the figures) or servo-mechanism or solenoid actuators, of the tractor 12, the tractor will track along and, thus be steered along and over the underlying track 20.
If the wire 20, and referring to figure 6, is laid out as shown beneath the surface of the ground 19 of a field 25, there are grid intersections 26, but the tractor 12 may be caused to plough the fielcl F and will track along the gridwork 20 and traverse the intersections 26 if the grid is laid out in a manner similar to that as shown in figure 6.
~ eferring to fi~ure 6A, in order to "sense" turning locations and intersections 26, standard iron bars CB are placed near the radius oE curvature "r" and where a double standard iron bar CB is used, a double "pulse" is generated by all Wheatstone bridges Bl, B2 and B3 as the sensor 15 travels over then, and these pulses are conveyed to the processor P, which according to its preprogramed memory will determine whether a "turn" should take place along radius r from track 20' to track 201. In this way, and referring to figure 6, a complete field F, using the simple expedient of crossing ~ilament tracks 20 can be ploughed when that track 20 is subterraneanly located.
Where the path of travel oE the vehicle, other than a tractor, is required, and there is no "ploughing" to take place, the track may be located upon the surface of the ground whether it be paved or not. In such a way, therefore, and using only one Wheatstone bridge and two sensors, say SGl and Sl, the path of a motor vehicle such as an automobile, along a highway may be simplistically controlledO
In another embodiment, and referring to figures 7, through 10, the sensor means 15 may be located on the prime mover vehicle 12 it~elf has a furrow 17' or the like so as to extend below the vehicle to wit; in this embodiment, to also penetrate into the ground, and includes means for regulating the instance of penetration OL the furrow 17' as, for example, by a simple expedient of a hydraulic cylinder 35. In that respect, the furrow 17' is carried by a vertical member ~6 that is appropriately hinged at 47 to the tractor 12 for pivotal mo~ement relative thereto. In such an environment, the tractor 12 can pull a passive trailer, for instance, spraying equipment, or harvesting machinery, along the predetermined path 20 of figure 6, or that of figure 8, as the case might be, and still use the same guide control grid or path; namely, the subterranean track 20 of either of said figures. This furrow 17' is also illustrated in phantom in figure 1 as 17'', to demonstrate its alternative use when a trailing plough is used.
Referring to figures 8 and 8A and to a simpler grid layout for the track 20, it may follow a general undulating path in plan view, from a start point 28 located on the surface lg of the ground 22, to an exit point 29, also located " ~3~7i~
on the surface 19 of the ground, so that there is a minimum of track crossover points 26 eg. only one. In this embodiment, about the ~ield F, is a perimeter road 40 that boarders an edge 43 defining a ploughable region, PR, in which cultivars may be grown in the field F. The track 20, exterior oE the ploughable region, PR, and hence on the perimeter o~ road 40, is placed on the surface 19 to form a track segment 20l while in the ploughable region, P~, the track 20 transcends quickly down a transition path 20''' to the subterranean depth (D +
10 d) as at 20'' of figure 8~ (this is shown as dotted lines 20 in figure 8). When this type of grid configuration and layout is used, the sensor 15 must itself track at a predetermined precise elevation, the track 20, that is the fixed distance D
(and also the "variable" distance d) and, hence, the need for the pivoting arm 46 and the operationally movable cylinder 35 of figure 7 so that the furrow 17' and its containing (or encapsulated) sensor 15 may be positioned at the given distance D above the track ~0 irrespective of whether the track 20 is on the surface 19 as at 20', or fixedly, at a predetermined distance ~d + D), belo~ the surface as at 20'' or negotiating the transition path 207'' therebetween. The control circuitry as earlier described in relation to figure 5 could be used for such operation.
Alternatively, and eliminating the need for the microprocessor MP, reference will now be made to figures 9 and 10. Particularly, referring to figure 10, the sensor 15 is contained within the housing 45 and consists, once again, of a magnet 40 (electromagnet or permanent), that is suspendedly constrained in the vertical and horizontal planes or positions by respective vertical members 42 and horizontal members 44.
The horizontal members 44 attach themselves to independant laterally moving switch arms o~ two horizontally poised microswitches Ml and M2 so as to sense the lateral migration of the magnet 20 from a predetermined norm. Similarily, there are vertically positioned microswitches M3 and M4 also carried by the housing ~5 as shown in that figure whose vertically moving switch arms respectively extend into the horizontal .
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members 43, that make terminal rigid connection to each of the vertical members 42. These latter two microswitches M3 and M4 sense the relative vertical position of the magnet 40. rt will be appreciated that the magnet 40 will move vertically in response to the vertical proximity of the sensor track 20 and also move laterally in response to the lateral location of the track 20. When these microswitches Ml through M4 are appropriately connected in an electrical and hydraulic configuration analagous to that illustrated in figure 9; a manner somewhat similar to that disclosed with reference to ~igure 5, the steering cylinder 60 will cause the movement of the piston rod 62 and, hence, "steer" the steering linkage 65 which will track the prime mover 12 along the undulating path of travel o~ the track 20.
The vertically sensing microswitches M3 and M~ will sense and control the two cylinders 30 and 35. In the embodiment of figure 7, only the cylinder 35 is utilized to move the piston rod 37 of that cylinder 35 and, hence, the forrow 17' into and out of penetrating engagement with the ground 22 so as to maintain a fixed relation, distance D, above the track 20.
In figure 9, the control circuitry of the implement lifting cylinder 30 is contained within the box B. Thus, it will be seen that the embodiments of figures 7 and 1 could be combined so as to provide a sensor control, either on the plough, or trailing vehicle as shown in figure 1, or, as shown in Eigure 7; the plough or trailing vehicle not being illustrated in figure 7 for reasons of simplicity.
~ lso referring to figure 9, there are a number of circuit breakers 90 illustrated, each connected to the common battery source 100 (which could be the prime mover main battery), so that the sensor 15 is activated when the switches 90 are in the closed position as shown in that figure. When they are open, the circuit is inoperative. The prime mover then may be used; in the conventional manual manner, by a human to drive and steer the tractor.
Further, when the embodiment of figure 7 is used to pull `~J
~31 9~7:~
the plough of figure 1, it is necessary that there be some ~Itimers~ which would control, that is to delay, penetration and withdrawal of the ploughs 17 of figure 1 into the soil after the sensor 15, contained in the furrow 17', has sensed the change in elevation of the track 20 as along transition gradient 20''' between the surface 20' and the subterranean location 20 ". These timers, T, in figure 9 are placed in the circuit with the microswitches M3 and M4 to appropriately control the response of the cylinder 30 as required.
It will be apparent, now to those skilled in the art, that if, in fact, the prime mover of figure 7 were, in fact a boat or other water floating vehicle, and the grid pattern or path of figures 6 or 8 were, in fact, a grid pattern or path placed in a water media, as on the floor of a seabed, the furrow 17' of figure 7, would suspend from the bottom of the boat and, instead of a steering mechanism for wheels1 there would be a steering mechanism for a rudder of a boat, thus figure 11~
Those skilled in the art will know that the flow valves, FV, are what are colloquially known as electrically operated hydraulic direction control valves, three position, spring centred. ~They will further appreciate that other variations of this invention may take place without deviating from the embodiments as claimed.
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- lOa-SUPPLEMENT~RY DISCLOSU~E
Further embodiments to the invention will now be described with reEerence to a more simplified sensing unit than that earlier disclosed and as well to water travelling vehicles, and in particular to a submersible vehicle.
The invention, therefore, additionally contemplates a magnetic rocker sensor, with magnetic sensing means spacially disposed in a common plane, and switch means activated by the relative angular position of said sensor.
The invention further additionally contemplates a vehicle control system comprising (a) a filamentt whose composition has ingredients selected from, a ferrous, ferric, or metalic material, located in three dimensional space so as to trace out a predetermined course of travel;
(b) a prime mover mounted in the vehicle and having means for steering and for regulating the relative elevational position of the same so as to follow said course;
(c) a magnet means mounted in a housing carried by the vehicle, that is magnetically responsive to the location of the said filament;
(d) a first position sensing means, affixed to the magnetic means, and mounted in the housing for sensing lateral and elevational positions, relative to the housing of said magnetic means; and, l (e) first means responsive to the first position sensing means for driving said means for steering anc, ! for elevational positioning, whereby to direct the travelling path of the vehicle along the path of the filament.
The additional embodiments will now be described by way ; of example and reference to the additional drawings in which;
Figure 12 is a more simplified sensor unit.
Figure 13 is a cross-section along lines XIII-XIII of figure 12.
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lOb -~ igure 14 is an elevational view of a submarine employing a guidance system according to ny invention.
Figure 15 is a plan view of the submarine of Eigure 14.
Figure 16 is a perspective view of the guidance unit housing or drone used with the submarine of figures 1~ and 15.
Figure 17 is a perspective view of figure 16 partially in section.
Fiyure 18 is a perspective, partially in section, of the guidance unit sensing head.
Figure 19 is a section along XIX-XIX of figure 18.
Figure 20 is a partial elevational view of the telescoping boom for the guidance unit.
Figure 20A is the same elevational view as in Figure 20, boom extended.
Figure 21 is an electrical circuit diagram for submarine control.
The simplified sensor of figures 12 and 13 may be preferably used where a vehicle such as an automobile, or other self-priming mover, normally travels cver a hard surface 40', such as asphalt, concrete and the like. The metalic or magnetic track, in ribbon form 20 is disposed to define the path of travel for the vehicle and may be embedded into the surface as shown or secured to the top thereo~. The sensor 15 consists of a rocker 90 with a cross-sectional shape in the form of an "I" beam with an upper rocker member 91 and a lower rocker member 92. The rocker 90 pivots about a pin or pivot point 93 which is a shaft protruding from the housing 45 of the sensor 15. Depending from the lower rocker members 92 are two rnagnets, oppositely disposed, respectively magnets Ml ancl Mr. Superadjacently disposed, above rocker member 91 are two microswitches Ml and M2, of the mercury type. If perchance the vehicle moves to the right, and referring to figure 13, magnet Ml finds itself above the track 20 (and for purposes of illustration, it is shown that the track is in the apparent position 20'). As a result the rocker 90 will rotate counterclockwise and close microswitch M2. It will be obvious, therefore, that when the vehicle is moved to the ~ ,,.
-- lOc --right so that the magnet Mr is over the track 20 and hence, in the apparent position 20'', counterclockwise rotation of the rocker 90 will occur and microswitch M2 will open and Ml will close. By appropriate circuitry, synonymous with that illustrated in figures 5, 9 or 10 or any apparent variation thereof the vehicle may be controlled to travel along the path 20.
The advantages to the simplified sensor of figures 12 and 13 is that it provides simple sensing, at a very reduced cost, and is to be preferred in a number of more simplistic applications.
Referring now particularly to water travelling vehicles and to a submersible submarine and to figure 14, a submarine 112 is submersible in the ocean 100 and pulls a drone, a sealed guidance unit 115 at the distal end of an articulating and telescoping boom 120. The upper portion of the boom 120 is attached for pivotable connection to the underside of the submarine through a pitch,roll and yaw sensing head 130, while the lower distal end of the boom 120 attaches through a bearing head 140 to the sensing unit housing 115. The boom 120, itself may be cylindrical and its lower portion 12~ can slide into its upper portion 125, thereby providing a variable length boom. Referring to figure 20, a stop means 126 is provided so as to stop penetrating telescoping movement of the lower boom member 124 into the upper boom member 125 as required. An ambilical cord 150 which conveys tracking and guidance information between the guidance unit 115 and the submarine 112 is suspended along the boom and will be describec1 in greater detail hereafter.
Along the floor of the sea is a metalic filament or magnetic track 220 over which control unit 115 travels in a manner as earlier explained in relation to the earlier embodiments.
Referring to figure 16, the guidance unit housing 115 has a rear articulating or tail fin 155, lateral articulating flap fins 165, and a fixed lower depending pectoral fin 175.
The rear fin 155 directs the path of travel of the guidance , ,..~
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- 10d -unit 115 over the metalic track 220 and the lateral fins 165 maintain the guidance unit 115 at a predetermined distance from submersible track 220 in a manner as will become apparent.
Referring to figure 17, the tail fin 155 is driven by a reversible ~C motor 156 having a worm sector steering system with a worm gear 157 and a worm sector gear 158 travelling thereon to turn the fin 155 left or right depending upon the relative lateral position of the sector gear 158 on the worm gear 157.
Similarily, the lateral fins 165 are driven up and down by a reversible DC motor and by a similar worm and sector arrangement 167 and 168.
On the belly of the submarine 112 is a pitch, roll and yaw sensing head 130 that consists of a swivel plate 131 which is adapted to roll around in a channel and race 132 that is carried by the body of the submarine 112. A pair of variable resistors RHl and RH2 coaxially mounted with a common shaft 135 are affixed to the floor 131 which is adapted to rotate, on the race and channel 132 whereby to allow to boom 1~2 to seek relative lateral angle ~ depending upon the relative position of the submarine 112 vis a vis the sensing unit 115 as illustrated in figure 13. The upper member 122 of the boom 125 pivotally mounts in a pivot means 138 to which a shaft 139 of a third variable resistor RH3 is affixed. Depending upon the relative angle, ~ , of the boom vis a vis the submarine 112, see figure 12; the resistor RH3 will find its own resistence. Inside the boom and referring to figure 20A, is a staln guage resistance ~4 on a potentiometer which, depending upon the relative telescoping position of the boom, varies the resistance in strain guage resistor R for means providing measurement as to the precise length of the boom.
Referring now to the circuit diagram of figure 21, the microprocessor MP is located in the drone 115, and controls the horizontal and vertical fins of the drone so that the drone 115 is constantly positioned over the submerged cable 220 in a manner as illustrated in figures 14 and 15. Thus, the ~9~1 - lOe -drone itself contains, in a like manner as described with reference to figure 5, strain guages Sl and SGl; S2 and SG2;
S3 and SG3; Wheatstone bridges and the like which convey the actual data of the sensor within the drone, equivalent to that of figures 2 and 3 for determining the relative position of the drone over the cable. Resulting voltages are fed into the microprocessor MP located in the drone. Simultaneously, it is necessary to determine pitch, roll and yaw at the sensing head 130 and hence the values oE the resistors R~l, RH2 and RH3 are also fed into the microprocessor MP by means of the umbilical cord 150. Also the relative distance of extension of the boom 124 is required and hence the resistence of the strain resistor R~. Values, therefore, of these latter 4 resistors will determine the angle ~ , the angle ~ , and the relative distance of the drone from the submarine. These values are computed by the microprocessor MP and the microprocessor MP
activates the vertical and horizontal fins (respectively indicated as Vd and Vh in figure 21) by activating the reversible DC motors 156 and 166. The computed information from the microprocessor MP is fed back, up the umbilical cord 150 to the submarine microprocessor SP whereby to control the submarine horizontal and vertical attitudes by appropriate circuitry indicated in figure 21 as Vs and Vh.
The submarine microprocessor SMP may be controlled, as those skilled in the art may wish to place the submarine at a given elevation relative to the sea bottom and hence the drone will drift at a predetermined distance above the submarine cable 220 as illustrated in the phantom portion of fig~lre l~.
Those skilled in the art will also now appreciate, that the submarine, in fact, could be riding on top of the surface of the ocean 100, rather than submerged therein as illustrated in figure l~ without significantly deviating from the embodiments of the invention so long as the boom length of the boom 120 can be extended sufficiently so that the drone 115 will be within sensing distance of the filament 220.
It should now be appreciated that other variations of the invention may be achieved without deviating from the invention as claimed.
Claims (23)
1. A vehicle control system comprising (a) a filament of metalic material position in juxtapositon with the travelling surface, so as to trace out a predetermined course of travel;
(b) a prime mover mounted in a vehicle adapted to travel over the surface and having means for steering the same to follow said course of travel;
(c) a magnet means mounted in a housing carried by the vehicle, that is magnetically responsive to the location of the said filament;
(d) a first position sensing means, affixed to the magnetic means, and mounted in the housing for sensing lateral positioning, relative to the housing of said magnetic means; and, (e) first means responsive to the first position sensing means for driving said means for steering whereby to direct the travelling path of the prime mover in parallel to the path or course of the metalic filament.
(b) a prime mover mounted in a vehicle adapted to travel over the surface and having means for steering the same to follow said course of travel;
(c) a magnet means mounted in a housing carried by the vehicle, that is magnetically responsive to the location of the said filament;
(d) a first position sensing means, affixed to the magnetic means, and mounted in the housing for sensing lateral positioning, relative to the housing of said magnetic means; and, (e) first means responsive to the first position sensing means for driving said means for steering whereby to direct the travelling path of the prime mover in parallel to the path or course of the metalic filament.
2. The control system as claimed in claim 1, wherein the filament of metalic material is a magnetic filament.
3. The control system as claimed in claim 1, wherein the magnetic means is an electromagnet.
4. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament.
5. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement.
6. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement; and wherein the earth penetrating implement is carried by the prime mover.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement; and wherein the earth penetrating implement is carried by the prime mover.
7. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement, including a passive trailing vehicle attached to and pulled by the prime mover, said passive vehicle carrying the said earth penetrating implement.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement, including a passive trailing vehicle attached to and pulled by the prime mover, said passive vehicle carrying the said earth penetrating implement.
8. The vehicle control system as claimed in claim 1, 2 or 3, wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a microprocessor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communicating to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
9. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the . - 14 -housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement; and wherein the earth penetrating implement is carried by the prime mover, and wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a microprocessor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communicating to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the . - 14 -housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement; and wherein the earth penetrating implement is carried by the prime mover, and wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a microprocessor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communicating to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
10. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement, including a passive trailing vehicle attached to and pulled by the prime mover, said passive vehicle carrying the said earth penetrating implement, and wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a microprocessor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communicating to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement, including a passive trailing vehicle attached to and pulled by the prime mover, said passive vehicle carrying the said earth penetrating implement, and wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a microprocessor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communicating to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
11. The vehicle control system as claimed in claim 1, 2 or 3, wherein the first position sensing means includes a microswitch with two poles, each with a single throw arm, each throw arm fixedly attached to the magnetic means, whereby the relative lateral position of the magnetic means to the housing controls the physical location of the throw arm and one of said poles is connected to an electrical source of power on the one hand, and a fluidic member as a solenoid activated fluidic control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flowingly communicating to the control valve, and a pair of hydraulic conduits on opposite sides of the control valve communicating to obverse sides of a movable piston with rod defined by and slidingly travelling in a first hydraulic cylinder, whereby when one of the throw arms makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in one direction, and to cause fluid to flow into the said cylinder, hence moving the rod in a first direction, and when the throw arm of the second pole makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in the direction opposite said one direction by causing fluid to flow into the cylinder in said opposite direction, hence, moving the rod in a direction opposite said first direction, the rod attached to steering linkages of the prime mover to thereby control the path of travel of the vehicle along said filament.
12. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the first position sensing means includes a microswitch with two poles, each with a single throw arm, each throw arm fixedly attached to the magnetic means, whereby the relative lateral position of the magnetic means to the housing controls the physical location of the throw arm and one of said poles is connected to an electrical source of power on the one hand, and a fluidic member as a solenoid activated fluidic control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flowingly communicating to the control valve, and a pair of hydraulic conduits on opposite sides of the control valve communicating to obverse sides of a movable piston with rod defined by and slidingly travelling in a first hydraulic cylinder, whereby when one of the throw arms makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in one direction, and to cause fluid to flow into the said cylinder, hence moving the rod in a first direction, and when the throw arm of the second pole makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in the direction opposite said one direction by causing fluid to flow into the cylinder in said opposite direction, hence, moving the rod in a direction opposite said first direction, the rod attached to steering linkages of the prime mover to thereby control the path of travel of the vehicle along said filament.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the first position sensing means includes a microswitch with two poles, each with a single throw arm, each throw arm fixedly attached to the magnetic means, whereby the relative lateral position of the magnetic means to the housing controls the physical location of the throw arm and one of said poles is connected to an electrical source of power on the one hand, and a fluidic member as a solenoid activated fluidic control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flowingly communicating to the control valve, and a pair of hydraulic conduits on opposite sides of the control valve communicating to obverse sides of a movable piston with rod defined by and slidingly travelling in a first hydraulic cylinder, whereby when one of the throw arms makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in one direction, and to cause fluid to flow into the said cylinder, hence moving the rod in a first direction, and when the throw arm of the second pole makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in the direction opposite said one direction by causing fluid to flow into the cylinder in said opposite direction, hence, moving the rod in a direction opposite said first direction, the rod attached to steering linkages of the prime mover to thereby control the path of travel of the vehicle along said filament.
13. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement, including a passive trailing vehicle attached to and pulled by the prime mover, said passive vehicle carrying the said earth penetrating implement, and wherein the first position sensing means includes a microswitch with two poles, each with a single throw arm, each throw arm fixedly attached to the magnetic means, whereby the relative lateral position of the magnetic means to the housing controls the physical location of the throw arm and one of said poles is connected to an electrical source of power on the one hand, and a fluidic member as a solenoid activated fluidic control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flowingly communicating to the control valve, and a pair of hydraulic conduits on opposite sides of the control valve communicating to obverse sides of a movable piston with rod defined by and slidingly travelling in a first hydraulic cylinder, whereby when one of the throw arms makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in one direction, and to cause fluid to flow into the said cylinder, hence moving the rod in a first direction, and when the throw arm of the second pole makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in the direction opposite said one direction by causing fluid to flow into the cylinder in said opposite direction, hence, moving the rod in a direction opposite said first direction, the rod attached to steering linkages of the prime mover to thereby control the path of travel of the vehicle along said filament.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament;
wherein the housing containing the magnetic means and said first and second position sensing means is carried by an earth penetrating implement, including a passive trailing vehicle attached to and pulled by the prime mover, said passive vehicle carrying the said earth penetrating implement, and wherein the first position sensing means includes a microswitch with two poles, each with a single throw arm, each throw arm fixedly attached to the magnetic means, whereby the relative lateral position of the magnetic means to the housing controls the physical location of the throw arm and one of said poles is connected to an electrical source of power on the one hand, and a fluidic member as a solenoid activated fluidic control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flowingly communicating to the control valve, and a pair of hydraulic conduits on opposite sides of the control valve communicating to obverse sides of a movable piston with rod defined by and slidingly travelling in a first hydraulic cylinder, whereby when one of the throw arms makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in one direction, and to cause fluid to flow into the said cylinder, hence moving the rod in a first direction, and when the throw arm of the second pole makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in the direction opposite said one direction by causing fluid to flow into the cylinder in said opposite direction, hence, moving the rod in a direction opposite said first direction, the rod attached to steering linkages of the prime mover to thereby control the path of travel of the vehicle along said filament.
14. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the position sensing means each include at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a microprocessor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communicating to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, one of said rods attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament, the other of said rods carrying said housing and said magnetic means and for maintaining, thereby, the magnetic means at a predetermined elevation relative to the filament.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the position sensing means each include at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a microprocessor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communicating to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, one of said rods attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament, the other of said rods carrying said housing and said magnetic means and for maintaining, thereby, the magnetic means at a predetermined elevation relative to the filament.
15. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the position sensing means each includes a microswitch with two poles, each with a single throw arm, each throw arm fixedly attached to the magnetic means, whereby the relative lateral position of the magnetic means to the housing controls the physical location of the throw arm and one of said poles is connected to an electrical source of power on the one hand, and a fluidic member as a solenoid activated fluidic control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flowingly communicating to the control valve, and a pair of hydraulic conduits on opposite sides of the control valve communicating to obverse sides of a movable piston with rod defined by and slidingly travelling in a first hydraulic cylinder, whereby when one of the throw arms makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in one direction, and to cause fluid to flow into the said cylinder, hence moving the rod in a first direction, and when the throw arm of the second pole makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in the direction opposite said one direction by causing fluid to flow into the cylinder in said opposite direction, hence, moving the rod in a direction opposite said first direction, one of the rods attached to steering linkages of the prime mover to thereby control the path of travel of the vehicle along said filament, the other of said rods carrying said housing and said magnetic means and for maintaining the magnetic means at a predetermined elevation relative to the filament.
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the position sensing means each includes a microswitch with two poles, each with a single throw arm, each throw arm fixedly attached to the magnetic means, whereby the relative lateral position of the magnetic means to the housing controls the physical location of the throw arm and one of said poles is connected to an electrical source of power on the one hand, and a fluidic member as a solenoid activated fluidic control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flowingly communicating to the control valve, and a pair of hydraulic conduits on opposite sides of the control valve communicating to obverse sides of a movable piston with rod defined by and slidingly travelling in a first hydraulic cylinder, whereby when one of the throw arms makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in one direction, and to cause fluid to flow into the said cylinder, hence moving the rod in a first direction, and when the throw arm of the second pole makes electrical connection with its pole, the voltage is supplied by the electrical source to the solenoid to activate the fluidic member in the direction opposite said one direction by causing fluid to flow into the cylinder in said opposite direction, hence, moving the rod in a direction opposite said first direction, one of the rods attached to steering linkages of the prime mover to thereby control the path of travel of the vehicle along said filament, the other of said rods carrying said housing and said magnetic means and for maintaining the magnetic means at a predetermined elevation relative to the filament.
16. The vehicle control system as claimed in claim 1, 2 or 3, wherein the vehicle is a ground travelling vehicle.
17. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly, mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the vehicle is a ground travelling vehicle.
(f) a second position sensing means attached to the magnetic means, and attachedly, mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the vehicle is a ground travelling vehicle.
18. The vehicle control system as claimed in claim 1, 2 or 3, wherein the vehicle is a boat with prime mover.
19. The vehicle control system as claimed in claim 1, 2 or 3 additionally including;
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the vehicle is a boat with prime mover.
CLAIMS SUPPORTED BY SUPPLEMENTARY DISCLOSURE
(f) a second position sensing means attached to the magnetic means, and attachedly mounted to the housing for sensing the vertical position, relative to the housing, of said magnetic means; and, (g) second means responsive to the second position sensing means for maintaining the sensing means at a predetermined distance, in elevation, to said filament, wherein the vehicle is a boat with prime mover.
CLAIMS SUPPORTED BY SUPPLEMENTARY DISCLOSURE
20. A vehicle control system comprising (a) a filament, whose composition has ingredients selected from, a ferrous, ferric, or metalic material, located in three dimensional space so as to trace out a predetermined course of travel;
(b) a prime mover mounted in the vehicle and having means for steering and for regulating the relative elevational position of the same so as to follow said course;
(c) a magnet means mounted in a housing carried by the vehicle, that is magnetically responsive to the location of the said filament;
(d) a first position sensing means, affixed to the magnetic means, and mounted in the housing for sensing lateral and elevational positions, relative to the housing of said magnetic means, and, (e) first means responsive to the first position sensing means for driving said means for steering and for elevational positioning, whereby to direct the travelling path of the vehicle along the path of the filament.
(b) a prime mover mounted in the vehicle and having means for steering and for regulating the relative elevational position of the same so as to follow said course;
(c) a magnet means mounted in a housing carried by the vehicle, that is magnetically responsive to the location of the said filament;
(d) a first position sensing means, affixed to the magnetic means, and mounted in the housing for sensing lateral and elevational positions, relative to the housing of said magnetic means, and, (e) first means responsive to the first position sensing means for driving said means for steering and for elevational positioning, whereby to direct the travelling path of the vehicle along the path of the filament.
21. The control system as claimed in claim 20, wherein the magnetic means is an electromagnet.
22. The control system as claimed in claim 20 or 21, wherein the magnetic means is mounted in a drone housing communicating with the vehicle by a telescoping and hingeble member.
23. A magnet rocker sensor, with magnetic sensing means spacially disposed in a common plane, and switch means activated by the relative angular position of said sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000419123A CA1196711A (en) | 1983-01-07 | 1983-01-07 | Terrain positioned tracking means and guidance sensor therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000419123A CA1196711A (en) | 1983-01-07 | 1983-01-07 | Terrain positioned tracking means and guidance sensor therefor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1196711A true CA1196711A (en) | 1985-11-12 |
Family
ID=4124292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000419123A Expired CA1196711A (en) | 1983-01-07 | 1983-01-07 | Terrain positioned tracking means and guidance sensor therefor |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1196711A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0141219A2 (en) * | 1983-09-23 | 1985-05-15 | MAN Technologie Aktiengesellschaft | Method and apparatus for guiding a trackless vehicle along its way |
| US4736812A (en) * | 1986-11-26 | 1988-04-12 | Zvi Livneh | Remote switching mechanism |
| EP0268718A1 (en) * | 1986-11-25 | 1988-06-01 | Zvi Livneh | Remote switching mechanism |
-
1983
- 1983-01-07 CA CA000419123A patent/CA1196711A/en not_active Expired
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0141219A2 (en) * | 1983-09-23 | 1985-05-15 | MAN Technologie Aktiengesellschaft | Method and apparatus for guiding a trackless vehicle along its way |
| EP0141219A3 (en) * | 1983-09-23 | 1986-11-12 | M A N Technologie Gmbh | Method and apparatus for guiding a trackless vehicle along its way |
| EP0268718A1 (en) * | 1986-11-25 | 1988-06-01 | Zvi Livneh | Remote switching mechanism |
| US4736812A (en) * | 1986-11-26 | 1988-04-12 | Zvi Livneh | Remote switching mechanism |
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