Abstract: A transmitter is mounted on a cultivator hitched to a tractor or the like for emitting a noninvasive sensor beam generally parallel to and in front of a soil-cultivating implement which tills the soil. Mechanism detects echoes from obstructions in the path of the implement and controls mechanism for retracting the implement so that the implement does not engage the obstructions. When an obstruction has passed, the implement is returned to its working position extending transversely to the direction of movement of the cultivator.

Abstract: A guidance system for an agricultural implement pulled by a tractor is disclosed. The implement, such as a cultivator or planter, has ground-engaging discs mounted to a frame or toolbar and includes a control hitch mounted to the conventional three-point tractor hitch. The toolbar of the implement is mounted to the control hitch for rotation about a vertical axis. A first sensing device senses the position of the implement relative to a desired lateral position, such as the distance from a crop row, and generates a signal representative of the displacement of the implement from that desired lateral position. The sensing device actuates a hydraulic circuit to turn the implement toolbar toward the desired position; and the discs steer the implement toward the desired lateral position. A second sensing device senses the angular position of the implement relative to the control hitch.

Abstract: An appaatus is provided for automatically longitudinally shifting a horizontal transverse tool bar and the tillage unit or units supported therefrom relative to the lift hitch of a tractor from which the tool bar is supported responsive to crop row sensing structure sensing misalignment of the tillage unit relative to an associated crop row whereby to reestablish proper alignment of the tillage unit relative to the crop row and the crop row position sensing structure is adjustable for crop row width, elevation of the sensing structure relative to the tillage unit and also in a manner to adapt the crop sensing unit for sensing the stems or stalks of a row crop or opposite sides of an earth ridge in which a row crop is growing or is to be planted.

Abstract: A guidance control system for a harvester or like machinery includes a steering linkage operatively connected to at least one ground engaging wheel. Harvester steering is controlled through the linkage by either an operator controlled steering wheel or a sensor responsive self-steering mechanism. The sensor responsive self-steering mechanism includes a guide assembly pivotally mounted to the harvester. The guide assembly includes a pair of laterally spaced, cooperating tines that define a path therebetween for plants being harvested. A sensor positioned on each tine senses the position of plants as they are harvested. A control circuit is responsive to the sensors to selectively impart movement to the steering linkage to self-steer the harvester. The control circuit includes a main valve controlled by the operator controlled steering wheel and a secondary valve controlled by the sensors. An auxiliary feed line leads from the main valve to the secondary valve.

Abstract: An attachment associated with a tractor mounted implement to enable the implement to be accurately located with respect to the ridges in a ridge planting system or the growing crop plants to more accurately plant or cultivate the ridges in a ridge planting system and more accurately cultivate growing crop plants. The attachment or row finder of the present invention is adapted for use with a three point hitch mounted implement or a tool bar mounted implement and senses where the ridge or crop plants are and adjusts the planter, cultivator or other implement to automatically center on the ridge or row of crop plants within a predetermined tolerance. The row finder utilizes the tractor hydraulic system and electrical system for electrically sensing where the ridges or row crop plants are and to center the implement in relation thereto.

Abstract: An apparatus and process combining an excavation apparatus with a fully contained underground elongated conductive object detector capable of selectively detecting underground objects such as water pipes and electrical cables. The combination of this invention may be advantageously used in trenching to prevent damage to underground water pipes and electrical cables by detecting their presence before the digging implement damages them. An audible or visual signal may be activated and/or the excavation apparatus may be automatically shut down upon detection of an underground pipe or cable a few feet below the excavation. The detector may be incorporated in the digging shovel of a backhoe or maintained in position adjacent the digging implement by a boom extending from the excavation apparatus. Simple and sturdy time gated electronics is advantageously used to differentiate underground pipes and cables from other underground metal debris and to provide range and direction information.

Abstract: A retractable tool apparatus is adapted to be mounted on a movable vehicle for working the area around and between objects in a row. The tool apparatus includes an extendable and retractable outrigger arm attachable on one of its ends to the vehicle. A work tool is mounted on the other end of the outrigger arm. An electro-hydraulic control system controls the retraction of the outrigger arm. This control system includes sensors in the form of a pair of wands mounted on the outrigger arm to sense objects in proximity to the work tool before the work tool contacts the objects. The first wand activates the control system upon contact with an object to retract the work tool. The second wand holds the control system in its retraction mode upon contact with the object even after the first wand has cleared the object.

Abstract: A cultivator particularly well adapted for use in vineyards and orchards because of its ability to cultivate the ground between successive plants in the same row includes a main frame that is continuously laterally expandable under control of the operator to accommodate variations in the spacing between rows; outriggers that flank the main frame and that contract laterally when collision with an object in their path becomes imminent; a spot sprayer mounted on each outrigger and activated by the lateral contraction and expansion of the outrigger to direct a spray of herbicide or other chemicals at the base of each plant but no where else; and a cultivator shank assembly that is castered-mounted to the outrigger or to the main frame so as to pivot to assume the direction of motion of the outrigger or main frame to which it is mounted.

Abstract: The disclosure in this patent application includes a retractable in-row tiller device that has a parallelogram carriage structure for supporting the outrigger arm and tiller and for retracting and extending the outrigger arm and tiller in relation to the tractor on which it is mounted. It also includes an electro-hydraulic control system with a single wand plant feeler device that provides very accurate and responsive automatic control to guide the tiller around plants and which can be overridden and operated manually with ease and accurateness. It also includes an automatic positive depth control feature operated electro-hydraulically by a gauge wheel.

Abstract: Disclosed is an electro-optical and microcomputer based method and apparatus for automatically guiding tractors and other farm machinery for the purpose of automatic crop planting, tending and harvesting. Also disclosed are means for automatic picking, excavating and other off-road uses in relatively confined areas.

Abstract: A tractor is equipped with a tool bar to which are attached a plurality of cultivators. Sensors are fixed by means of clamps and shanks located over the drill of the planted crop in such a manner that weeds growing above the height of the crop are detected. Once the weed is detected, a spray nozzle is activated and the weed is treated with herbicide. Weeds which are not taller than the growing crop are sprayed as the driver of the tractor manually activates spray nozzles to spray low lying weeds which he visually detects.

Abstract: Crop uprooting and cultivating apparatus which includes at least one bar having at least one angled edge thereon that extends from a support at least partially across a row to be cultivated or from which crops and/or foliage are to be uprooted. The bar is rotatably supported by a support structure in cantilever fashion, leaving an outer end of the bar free. The bar may extend across a crop row in a direction generally transverse to the direction of movement of the apparatus along the row, or may be angled rearwardly with respect thereto to provide a self-cleaning action. The bar rotates beneath the surface of the soil and uproots crops and foliage as it moves along, the direction of rotation being in a direction opposite the direction of travel of the apparatus. A pair of bars may be provided, one being located on each side of a row being cultivated or where crops are to be uprooted with at least one of the bars extending a distance of more than 50 percent of the width of the row.

Abstract: Relates to a method of accurately and rapidly thinning commercial plantings of field crops by a motor-driven apparatus wherein the r.p.m. of the motor is converted into timing pulses and utilized in maintaining a virtually uniform rate of travel, the pulses being also utilized in energizing circuitry which controls instants of timing of the operation and deactivation of plant-sensing mechanisms and thinning knives through a control register which is presettable for mechanical lag and complete operating time whereby heretofore unattainable accuracy of thinning operations is attained under varying field conditions at high rates of progress. Also provides an apparatus which embodies a novel combination of mechanical improvements which overcome problems of weight, stability, flexibility, durability and dependability under various field conditions, and which employs the mode of operation above referred to.

Abstract: A cutting blade is carried on a shaft rotatable about an axis positioned adjacent a row crop. The blade extends across the longitudinal centerline of the row and cuts plants as the machine moves forward until a sensing means registering on forwardly positioned plants actuates the knife and causes it to rotate rearwardly along the row and away from the next plant in the row to be retained. The rotation continues until a knife portion is now positioned on the front side of the plant to be retained and a portion of the knife extends rearwardly along the side opposite the axis of rotation of the blade. The machine continuing to move forward will again clear plants from the row until the sensing means actuates the blade to rotate again thereby causing predetermined plants to be retained while plants inbetween are thinned out.

Abstract: A harvester displaceable along the ground in a transport direction determined by a steering mechanism itself operated by a controller has a sensor formed of a pair of sensor arms pivotal on the harvester about pivot axes spaced apart transverse to the harvester transport direction. These arms are biased into a position extending normally toward and in line with each other and have inner ends which overlap so that displacement of the chassis of the harvester along the ground will bring crop into engagement with these arms and deflect them backwardly. Each of the arms is connected to a potentiometer and these potentiometers are wired in series such that as the one arm is deflected backwardly the resistance of its potentiometer increases and as the other arm is deflected backwardly the resistance of its potentiometer decreases.

Abstract: Apparatus for treating plants, such as weeds with an herbicide, which plants have grown to at least a predetermined height, including a sensor comprising an adjustable, electrically conductive probe arm adapted to contact such plants coupled to electrical circuitry for generating an electrical signal when such contact is made. The electrical signal opens a solenoid actuated valve which allows the treatment material to flow from a pressurized storage tank through conduits to spray nozzles which dispense the treatment material over the plant. The circuitry includes means by which the solenoid actuated valve is maintained open for a predetermined minimum duration to assume adequate treatment of the plants.

Abstract: A multi-row vineyard cultivator for cultivating a plurality of generally parallel rows of grape vines simultaneously having a wheeled framework adapted to travel over the rows with first and second outriggers mounted on the framework extending from the framework in a direction generally perpendicular to the line of travel so that they overlie a row on each side of the framework. A downwardly depending post is provided on each of the outriggers. Cultivator assemblies are mounted on each of the posts which are adequate for one row. A hydraulic actuator is provided for moving the post and the cultivator assemblies carried thereby longitudinally along the outrigger associated therewith.