An earthmoving apparatus and method for grading a tract of land to a desired finish contour wherein a continuously updated contour map is displayed to the operator of the earthmoving apparatus during the grading process is provided. The earthmoving apparatus has a blade of known width for cutting and filling soil of the tract of land. Vertical blade movement and the x and y position of the earthmoving apparatus is continually detected by respective sensors as the earthmoving apparatus traverses the tract of land. An ultrasonic transmitter and receiver detects elevation of the soil, preferably located behind the blade, to provide updated soil elevation information. A computer then uses the aforesaid information to generate a visual representation of a contour map of the tract of land with cut and fill lines thereon. The computer continuously modifies the contour map to reflected changes in the topography of the tract of land as the earthmoving apparatus proceeds with the grading process based on the detected elevation of the soil, the blade width, the x and y position of the apparatus and the desired finish contour.

Earthmoving apparatus and method for grading land providing continuous resurveying

A multi-product applicating system, seed planting system and control are provided for the dispensing of liquid or granular products in pre-selected amounts and planting seeds at pre-selected depths and frequencies. Three or more separate products can be dispensed simultaneously and constant control and monitoring of all products is provided for at the control console. Seed planting depth can also be continuously monitored. The present invention further provides a grid recipe system for creating a recipe which defines the amounts of each type of product to be applied to specific areas of the field and/or which defines a seed planting depths and frequencies for specific areas of the field. The grid recipe system utilizes the GPS and a data card having the recipe and/or seed depth/frequency stored thereon for controlling a computer which communicates with the control console of the present invention. The recipe and/or depth/frequency grid is created by the farmer based on personal knowledge and experience.

Combination grid recipe and depth control system

This invention relates to a load indicating member comprising a shank having at least one groove and an ultrasonic transducer coupled to a load indicating member so that an ultrasonic wave is directed to the groove. A surface can be formed adjacent to one longitudinal end of the shank and the ultrasonic transducer can be coupled to this surface. Further, the ultrasonic transducer can be coupled to this surface so that the ultrasonic wave is also directed to the other longitudinal end of the shank which is remote from the surface. The groove may be located on the shank at a predetermined distance from the surface for identification of the member. Moreover, the surface can have a recess, with the ultrasonic transducer being located in the recess. Advantageously, the groove can be an annular groove or the groove can be comprised of threads disposed on the shank. Also, the shank can have two or more annular grooves. These grooves can be located on the shank at a predetermined distance apart for identification of the load indicating member. Preferably, the ultrasonic transducer is a piezoelectric film transducer. Additionally, the preferred load indicating member is a fastener in accordance with the present invention.

Ultrasonic load indicating member

A spray boom system for mounting on a vehicle with opposite sides includes a pair of boom assemblies with proximate and distal ends. The boom assemblies are mounted on the vehicle and are swingable between laterally-extending field positions and folded travel positions generally alongside the vehicle. Hinged connector assemblies are attached to the boom assembly proximate ends for permitting the swinging movement of the boom arms and also permit the boom arms to be independently raised and lowered by a pair of hydraulic cylinders which are also connected to the boom assembly proximate ends. The operation of the cylinders for raising and lowering the boom assemblies is controlled by a height control system which utilizes ultrasonic signals for determining heights of the boom assemblies above a field or crop surface. A liquid dispensing system includes a tank for mounting on the bed of the vehicle, a pump, spray nozzles mounted on the boom assemblies and tubing interconnecting the liquid dispensing system components.

Spray boom system with automatic boom end height control

A method and system for facilitating cost effective, reliable, system redundant, self-driving vehicles involves the employment of specialized lane marking components that permit unprecedented sensor feedback, and in particular, a system and method that enables accurate lane marking recognition despite adverse weather conditions, which presently pose problems experienced by self-driving systems that rely upon vision based camera systems.

Method and System for Autonomous Vehicles

An agricultural machine having a machine element supported by and movable relatively to a wheel-supported main frame with power means for moving it up and down relatively in small incremental steps, to vary the distance to ground level. The distance to ground is determined and electrical signals corresponding to the distance generated. A control circuit receives the signals and provides "up" and "down" pulses. A monitor-controller circuit receives the "up" and "down" pulses and transmits them to the power means for actuating an incremental step up or down for each pulse. The monitor-controller determines whether a preselected member of consecutive "down" pulses occur without an "up" pulse between them and within a short predetermined time period and actuates circuit disabling and override means only when the preselected number of "down" pulses occur within the predetermined time period; if so, further "down" pulses are prevented from passing to the power means, and both "up" and "down" pulses are nullified for a set time period, during which the machine element is moved toward or to its initial position.

Height control for agricultural machine

A distance-determining detector and method. A piezoelectric ultrasonic transceiver sends out pulses and receives their reflection and produces an analog output and a trigger output. The analog output is given effect only when it exceeds a threshold level, as shown by a comparator. The trigger output is used for disabling detection during transmission of the transmitter pulse and for producing a time interval during which the analog output is valid, when enabled. An AND gate is connected to the comparator and to the enabled trigger output. Clock pulses are counted, and a flip-flop circuit is connected to the counter and to the output from the AND gate. A multiplying digital-to-analog converter is connected to the flip-flop circuit for determining the distance. There may also be temperature compensation and scaling for the converter for validating the output thereof over a wide range of temperatures.

Piezoelectric ultrasonic apparatus and method for determining the distance from a predetermined point to a target

Method and apparatus for determining the distance from a preselected point to a target. An electrostatic ultrasonic transducer in a special protective housing is used with a single-pulse, square-wave transmitter to compare a main signal with a calibration signal. A warning signal indicates when the number of signals actually received during each one hundred signals sent drops below a predetermined percentage. Noise is minimized by careful spacing and shaping of the calibration bar and by insulating foam in the housing.

Apparatus for determining the distance from a predetermined point to a target

A system for use in guiding a vehicle on a roadway along an elongated guide member emitting a magnetic field includes an upper sensor and a lower sensor connected to the vehicle. The lower sensor detects a magnetic field emitted by the elongated guide member and an ambient magnetic field. The upper sensor detects only the ambient magnetic field. The signals produced by the detectors are processed to subtract the signal from the upper sensor of that of the lower sensor to produce a steering signal for transmission to an automatic steering system on the vehicle.

James E. Seiferling

Papers

Height control for agricultural machine

Piezoelectric ultrasonic apparatus and method for determining the distance from a predetermined point to a target

Apparatus for determining the distance from a predetermined point to a target

Vehicle guidance system