Earth working – Automatic power control
Reexamination Certificate
1999-09-30
2001-04-03
Novosad, Christopher J. (Department: 3671)
Earth working
Automatic power control
C701S005000
Reexamination Certificate
active
06209656
ABSTRACT:
TECHNICAL FIELD
This invention relates generally to position control of a member, and more specifically, to a method and apparatus for controlling the lateral position of an arm of a hitch.
BACKGROUND ART
Most conventional hitches have a pivot point to allow articulation between an implement coupled with a hitch, such as a plow, and a work machine to which the hitch is attached, such as a tractor. In addition to the pivot point, some hitches allow the pivot point to be manually shifted a short distance laterally, i.e., horizontally, with respect to the tractor.
Conventional hitch systems that allow lateral shifting typically operate in two ways. A pivoting wand or other similar device used for row guidance provides the input indicating the desired offset of the hitch. Typically the wand is suspended from the implement, and is dragged along the ground in contact with a row of crops. When the position of the implement changes relative to the row of crops, the angle of the wand changes. As the angle changes, an appropriate offset of the hitch may be made to prevent the implement from overrunning and causing damage to the row of crops.
Alternately, a manual lever, such as a joystick, or a discrete switch, is toggled to trigger movement by the hitch. For example, when an operator is attempting to hook up an implement with the tractor, often the hitch is not properly aligned with the implement. Instead of requiring the operator to re-align the tractor, the operator may simply adjust the lateral position of the hitch. In addition, a manual lever allows the operator to shift the hitch, and any implement connected to it, to one side. This allows for a more precise positioning of the implement during a variety of field operations.
It has been suggested by some that a hitch may be used to provide a positive steering force to assist during turns of the tractor with the implement in the soil. However, no satisfactory system for accomplishing this has been disclosed. Hitches that use row guidance sensors are clearly not suited for this task. These systems control the position of the hitch solely based on the position of the crop rows, and where no crop row is present, provide no guidance. The manual lever could be used to offset the hitch in this situation. The manual lever, however, provides an additional task for the operator to monitor and respond to. Due to the increasing complexity of modern tractors, it is undesirable to provide additional systems that vie for the attention of the operator while the tractor is in motion.
DISCLOSURE OF THE INVENTION
The present invention provides an apparatus and methods for controlling a lateral position of a first member on a hitch of a work machine. A first processing device receives a first signal indicative of a desired turn radius of the work machine and transmits a first desired hitch position as a function of the first signal. A second processing device receives a second signal indicative of an actual hitch position and also receives the first desired hitch position. The second processing device transmits a first error as a function of the second signal and the desired hitch position. A controller receives the first error and transmits a second error as a function of the first error. A first member modulator receives the first error and transmits a first activation signal as a function of the second error. The first activation signal controls the lateral position of the first member.
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Gengler Eric P.
Thate Jeffrey M.
Caterpillar Inc.
Green Clifton G.
Novosad Christopher J.
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