Patent US4558760A successfully refreshed from Google Patents.
US4558760A
Expired / Lapsed
US
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Apparatus for automatically guiding the movement of a vehicle, especially an off-road vehicle
Assignee: PRECICULTURE 291 RUE DE MARECHAL DE LATTRE DE TASSIGNY
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Filing: 1983-01-20
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Granted: 1985-12-17
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Expires: 2003-01-20
Abstract
Abstract The apparatus is of the kind comprising detectors (21,23) of deviation of vehicle positional parameters from a path which is fixed in advance providing electrical data which actuates a control device (14) connected to a steering device (7) for steering the steered wheels (2) of the vehicle. The problem to be solved is to avoid the influence of shocks and vibrations and reduce the interventions of the driver. To this end, the detectors comprise a travelled distance detector (21) and a detector (23) of the steered angle of a steered wheel that provide data to a comparator (28) which is also connected to a memory (30) storing positional data relating to a path to be followed, including a manually set device (43) for introducing the desired spacing between parallel passes. The invention is especially applicable to agricultural machines.
Inventors
- 👤 Denis Lestradet
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 11:01
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0276; G05D1/028; G05D1/0212; G05D1/0219; G05D1/0268; G05D1/0272
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
171 words
Apparatus for automatically guiding the movement of a vehicle having at least one steerable wheel comprising: desired path means for producing desired path data defining positionable parameters of a desired path to be followed by the vehicle, said means including memory means for storing signals defining said desired path data, including operator established data relating to the desired spacing between successive passes of the vehicle; detector means having opto-electric pulse generating means coupled to said wheel for detecting the distance traveled by the vehicle and potentiometer means coupled to said wheel and responsive to the movement of same for detecting the steering angle of the steered wheel, said detector means providing signals defining detected position data; comparison means comprising computing and regulating means responsive to said desired path data and said detected position data for producing a deviation signal relating to deviation of the vehicle from said desired path; and steering control means responsive to said deviation signal for controlling the vehicle steering to bring said vehicle toward said desired path.
Claim 2
Dependent Claim
171 words
Apparatus for automatically guiding the movement of a vehicle having at least one steerable wheel comprising: desired path means for producing desired path data defining positionable parameters of a desired path to be followed by the vehicle, said means including memory means for storing signals defining said desired path data, including operator established data relating to the desired spacing between successive passes of the vehicle; detector means having opto-electric pulse generating means coupled to said wheel for detecting the distance traveled by the vehicle and potentiometer means coupled to said wheel and responsive to the movement of same for detecting the steering angle of the steered wheel, said detector means providing signals defining detected position data; comparison means comprising computing and regulating means responsive to said desired path data and said detected position data for producing a deviation signal relating to deviation of the vehicle from said desired path; and steering control means responsive to said deviation signal for controlling the vehicle steering to bring said vehicle toward said desired path.
Claim 3
Dependent Claim
46 words
Apparatus as claimed in claim 1, wherein said desired path means is responsive to detected position data relating to parameters of an initial pass to be copied, said detector means comprising vehicle position means responsive to vehicle ground position parameters of at least the initial pass.
Claim 4
Dependent Claim
47 words
Apparatus as claimed in claim 2, wherein said vehicle position means comprises transmitter-receiver means and at least two beacon means for reflecting wave transmissions from said transmitter-receiver means back thereto, whereby to enable positional triangulation of the vehicle relative to the ground to provide detected position data.
Claim 5
Dependent Claim
34 words
Apparatus as claimed in claim 3, wherein said beacon means are disposed on the ground, said initial pass being disposed with at most a small angle relative to a line joining said beacon means.
Claim 6
Dependent Claim
52 words
Apparatus as claimed in claim 2, wherein said vehicle position means is responsive to positional parameters relating to first and second points on said initial pass thereby defining the direction of a straight line substantially corresponding thereto, said desired path means defining positional parameters relating to said direction of a straight line.
Claim 7
Dependent Claim
44 words
Apparatus as claimed in claim 2, wherein said vehicle position means is responsive to positional parameters relating to a plurality of points on said initial pass and said desired path means being responsive thereto to calculate and store coordinate data relating to said points.
Claim 8
Dependent Claim
47 words
Apparatus as claimed in claim 2, wherein said vehicle position means is responsive to positional parameters of a plurality of passes, said calculating and regulating means of said comparison means being intermittently responsive to said distance and steering angle signals and to said vehicle ground position parameters.
Claim 9
Dependent Claim
23 words
Apparatus as claimed in claim 1, wherein said calculating and regulating means is responsive to said distance travelled to define its intermittent response.
Claim 10
Dependent Claim
45 words
Apparatus as claimed in claim 1 wherein said calculating and regulating means of said comparison means includes coordinate means responsive to said distance and steering angle signals produced by said detector means for calculating detected position data in terms of positional coordinates of the vehicle.
Claim 11
Dependent Claim
30 words
Apparatus as claimed in claim 9, wherein said coordinate means is responsive to continuous series of said detected position data corresponding to successive positions of the vehicle as it moves.
Claim 12
Dependent Claim
24 words
Apparatus as claimed in claim 1, wherein said vehicle includes manually operable means for disabling said apparatus whereby the vehicle may be manually steered.
Claim 13
Dependent Claim
30 words
Apparatus as claimed in claim 1 including display means responsive to said memory means for displaying information relating to a deviation of the vehicle from a subsequently desired vehicle path.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1988-12-16 | 1989-06-17 | 1989-12-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1992-12-16 | 1993-06-17 | 1993-12-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1996-12-16 | 1997-06-17 | 1997-12-17 | $7700.00 | Window Closed / Lapsed |