GB2071978A - Guidance control means of an agricultural machine - Google Patents
Guidance control means of an agricultural machine Download PDFInfo
- Publication number
- GB2071978A GB2071978A GB8107745A GB8107745A GB2071978A GB 2071978 A GB2071978 A GB 2071978A GB 8107745 A GB8107745 A GB 8107745A GB 8107745 A GB8107745 A GB 8107745A GB 2071978 A GB2071978 A GB 2071978A
- Authority
- GB
- United Kingdom
- Prior art keywords
- transmitters
- control means
- feeler
- agricultural machine
- rows
- 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.)
- Granted
Links
- 230000001939 inductive effect Effects 0.000 claims abstract description 6
- 229910000859 α-Fe Inorganic materials 0.000 claims description 2
- 241000196324 Embryophyta Species 0.000 description 14
- 230000015572 biosynthetic process Effects 0.000 description 5
- 240000008042 Zea mays Species 0.000 description 2
- 235000016383 Zea mays subsp huehuetenangensis Nutrition 0.000 description 2
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 2
- 235000009973 maize Nutrition 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
- 244000038559 crop plants Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Securing Of Glass Panes Or The Like (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Guidance control means for an agricultural machine, to provide guidance along rows of plants, comprises feelers (1,1',2,2') which are arranged in pairs, the feelers of each pair being deflectable in opposite directions and being coupled to inductive transmitters (3,3',4,4'). The transmitters (3,3') associated with the left sides of the rows are connected in parallel through respective diodes (12,12') and the transmitters (4,4') associated with the right sides of the rows are similarly connected in parallel through respective diodes (13,13'), the two groups of transmitters being connected in series opposition. The control of the automatic steering system is derived from the difference of the individual voltages Ua1 of all righthand transmitters (4,4') and the individual voltages Ua2 of all lefthand transmitters (3,3'). <IMAGE>
Description
SPECIFICATION
Guidance control means of.an agricultural machine The present invention relates to a n an agricultural machine with guidance control means for providing guidance along rows of plants, especially iong stemmed crop plants such as maize.
In United Kingdom patent specification No. 2 051 540 there is disclosed a device for the scanning of rows of plants, the device being disposed at the two swath board points in the region of at least one conveying channel of a harvester. The device comprises a respective feeler arranged on each of the mutually opposite swath boards and coupled with an inductive transmitter. Since a scanning of at least two rows of plants provides more accurate results, the feelers are mounted in rows lying far apart. The inductive transmitters are connected in parallel at their secondary sides through a full wave circuit.If one of the two scanned rows of plants has gaps due to low growth or weak plants, or is entirely absent over a longer distance, then through mean value formation of the two transmitter signals in the known guidance system there is provided an output signal which corresponds to only half the possible output signal of the two transmitters, because the transmitters of the absent row deliver the signal zero. Thus, a weaker input signal is provided for the automatic guidance system, while the response threshold remains the same. As a consequence, the automatic guidance system operates with reduced accuracy or is completely incapable of functioning.
There is accordingly a need for a guidance control system which, independently of the number of the scanned rows of plants, generates a constant input signal at the guidance equipment.
According to the present invention there is provided an agricultural machine provided with guidance control means comprising a plurality of pairs of plant feeler elements, the feeler elements of each pair being arranged for contact with a respective plant row from opposite sides thereof and being deflectable by the plants of such row in mutually opposite directions, a respective inductive transmitter so operatively coupled to each feeler element as to provide an output voltage which increases with increasing deflection of the associated feeler element, the transmitters coupled with the feeler elements for contact with corresponding sides of such rows being connected in parallel by way of respective diodes and each plurality of parallelly connected transmitters being connected in series opposition with the respective other plurality, and steering control means controllable as a function of the difference between the effective output voltage of one of the pluralities of parallelly connected transmitters and the effective output voltage of the other one of the pluralities.
In a machine embodying the present invention, feeler elements with inductive transmitters are expediently arranged at both sides of at least two conveying channels and are so combined in one circuit arrangement that all righthand transmitters in terms of the circuit form one group and all lefthand transmitters another group. In that case, all righthand transmitters as well as all lefthand transmitters are connected together in parallel through diodes and both groups of transmitters are connected in series opposition. In this kind of connection, the respectively higher output voltage of, for example, two parallelly connected transmitters participates in the signal formation, while the lower one has no influence.On deflection of the feelers of only one conveying channel, for example as a consequence of a gap in a plant row associated with the other channel, the output voltages of the transmitters of these feelers alone are utilised, in full magnitude, as input signal for a regulator of an automatic steering system. The signal of the feeler pair of the other channel is zero and thus has no influence on the signal formation. Conversely, on the deflection of several feeler pairs, the input signal is composed of the highest output signal of all transmitters associated with the righthand sides or the lefthand sides of the rows of plants. This means that only those righthand or lefthand transmitters, in which the output voltages of the secondary coils thereof, due to corresponding feeler deflection, are at the highest are decisive for the signal formation.The output voltage of the regulator forms the control signal for the steering control means, for example a hydraulic steering system. A precise guidance with minimization of the switching frequency may be achieved with a guidance control means of this kind. It is also of advantage that the mean value formation is maintained on scanning of several rows of plants.
An embodiment of the present invention will now be more particularly described, by way of example, with reference to the accompanying drawing, which is a schematic circuit diagram of guidance control means in an agricultural machine.
Referring now to the drawing, there is shown a guidance control means comprising a respective feeler 1,2, 1' or 2' mounted at each side wall of at least two conveying channels of a multi-row maize harvester, the feelers being so arranged in pairs 1,2 and 1', 2' that the feelers of each pair are resiliently deflectable in mutually opposite directions by the plants of a plant row passing along the associated conveying channel.
The feelers 1, 1', 2 and 2' are pivotably connected through respective ferrite cores 5 with transmitters 3, 3', 4 and 4', respectively. A respective secondary coil 6, 6', 7 and 7' and a respective primary coil 8, 8', 9 and 9' are disposed in each of the transmitters 3, 3', 4 and 4'. The secondary coils 6, 6' and 7, 7' are connected in parallel and connected through appropriate conductors with a regulator (not shown). For this purpose, a respective resistor 10, 10', 11 and 11' is connected in parallel with and a respective diode 12, 12', 13 and 13' is connected downstream of, each of the secondary coils 6, 6' , 7 and 7'. The secondary coils 6 and 6' of the lefthand transmitters 3 and 3' and the secondary coils 7 and 7' of the righthand transmitters 4 and 4' are thus connected as two groups, and these two groups of transmitters are connected in series opposition. In the case of an arrangement of more than two feeler pairs, the connecting together takes place through parallel and series connection in analogous manner.
The operation of the circuit is as already explained.
Claims (3)
1. An agricultural machine provided with guidance control means comprising a plurality of pairs of plant feeler elements, the feeler elements of each pair being arranged for contact with a respective plant row from opposite sides thereof and being deflectable by the plants of such row in mutually opposite directions, a respective inductive transmitter so operatively coupled to each feeler element as to provide an output voltage which increases with increasing deflection of the associated feeler element, the transmitters coupled with the feeler elements for contact with corresponding sides of such rows being connected in parallel by way of respective diodes and each plurality of parallelly connected transmitters being connected in series opposition with the respective other plurality, and steering control means controllable as a function of the difference between the effective output voltage of one of the pluralities of parallelly transmitters and the effective output voltage of the other one of the pluralities.
2. A machine as claimed in claim 1, wherein each of the transmitters comprises a primary and a secondary coil, and a ferrite core connected to the associated feeler element.
3. An agricultural machine provided with guidance control means substantially as hereinbefore described with reference to the accompanying drawing.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DD80219781A DD154252A4 (en) | 1980-03-20 | 1980-03-20 | CIRCUIT ARRANGEMENT OF A DEVICE FOR OPERATING A PLANT RANGE |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB2071978A true GB2071978A (en) | 1981-09-30 |
| GB2071978B GB2071978B (en) | 1983-05-25 |
Family
ID=5523226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB8107745A Expired GB2071978B (en) | 1980-03-20 | 1981-03-12 | Guidance control means of an agricultural machine |
Country Status (6)
| Country | Link |
|---|---|
| BG (1) | BG34766A1 (en) |
| CS (1) | CS236906B1 (en) |
| DD (1) | DD154252A4 (en) |
| FR (1) | FR2478424A2 (en) |
| GB (1) | GB2071978B (en) |
| HU (1) | HU183335B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0381073A2 (en) * | 1989-01-30 | 1990-08-08 | Eaton Corporation | Automatic guidance apparatus for a vehicule |
| GB2285905A (en) * | 1993-12-27 | 1995-08-02 | Fuji Heavy Ind Ltd | Automatic steering of agricultural vehicle |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2816801A1 (en) * | 2000-11-22 | 2002-05-24 | Bruno Liesch | Self steering agricultural implement has main chassis with frontal tow hitch and articulated steering pivot controlled by hydraulic actuators |
| RU2721921C1 (en) * | 2019-02-04 | 2020-05-25 | Анатолий Тимофеевич Калюжный | Agricultural navigation inductor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU682168A1 (en) * | 1975-06-16 | 1979-08-30 | Украинский научно-исследовательский институт сельскохозяйственного машиностроения | Apparatus for automatically driving a self-propelled machine |
| DD148139A3 (en) * | 1979-05-30 | 1981-05-13 | Lothar Naether | DEVICE FOR OPERATING A MINERAL ENGINE ALONG THE PLANTS |
-
1980
- 1980-03-20 DD DD80219781A patent/DD154252A4/en not_active IP Right Cessation
-
1981
- 1981-01-28 CS CS81681A patent/CS236906B1/en unknown
- 1981-01-28 BG BG8150567A patent/BG34766A1/en unknown
- 1981-02-18 HU HU81386A patent/HU183335B/en unknown
- 1981-03-11 FR FR8104881A patent/FR2478424A2/en active Granted
- 1981-03-12 GB GB8107745A patent/GB2071978B/en not_active Expired
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0381073A2 (en) * | 1989-01-30 | 1990-08-08 | Eaton Corporation | Automatic guidance apparatus for a vehicule |
| EP0381073A3 (en) * | 1989-01-30 | 1992-03-04 | Eaton Corporation | Automatic guidance apparatus for a vehicule |
| GB2285905A (en) * | 1993-12-27 | 1995-08-02 | Fuji Heavy Ind Ltd | Automatic steering of agricultural vehicle |
| GB2285905B (en) * | 1993-12-27 | 1997-04-09 | Fuji Heavy Ind Ltd | Mowing vehicle and apparatus for detecting a boundary |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2071978B (en) | 1983-05-25 |
| FR2478424B2 (en) | 1983-11-25 |
| BG34766A1 (en) | 1983-12-15 |
| CS236906B1 (en) | 1985-05-15 |
| FR2478424A2 (en) | 1981-09-25 |
| DD154252A4 (en) | 1982-03-10 |
| HU183335B (en) | 1984-04-28 |
| CS68181A1 (en) | 1984-02-13 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |