Abstract:
A method and apparatus for handling a work object in movement relative thereto by transmitting electrical energy along a course along which the handling is to be performed sensing the position of the electrical energy transmitted along the course and moving a handling assembly relative to the positioned sensed to perform the handling of the work object.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS  
         [0001]    Not applicable.  
         STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT  
         [0002]    Not Applicable.  
         BACKGROUND OF THE INVENTION  
         [0003]    1. Field of the Invention  
           [0004]    The present invention relates to a method and apparatus for handling a work object in movement relative thereto and, more particularly, to such a method and apparatus which are adapted to follow a preselected course in the performance of the handling operation; which interoperate with the work object in the performance of the handling operation in such a manner that the configuration of the work object controls the path along which the handling operation is performed; which direct work performing portions thereof along one or more paths in the handling operation; which are responsive along at least one axis of reference to adjust to the configuration of the work object; which can be adapted to use in a wide variety of embodiments; and which otherwise are entirely successful in achieving their operational objectives.  
           [0005]    2. Description of the Prior Art  
           [0006]    It has long been known in a variety of arts to perform work operations during continuous, or substantially continuous, movement. Such a means for performing a work operation achieves a number of benefits which otherwise would be difficult, if not impossible, to accomplish. An assembly line is one example of such a process. In this example, the movement of the products being assembled through a plurality of discrete work stations for the performance of specific, progressive assembly operations permits such assembly of the product to be achieved with greater reliability and less expense than was previously possible with prior methods of assembly.  
           [0007]    Another example of the performance of work operations during continuous movement can be observed in a variety of specific operations in agriculture. The mechanization of agriculture has seen a plethora of specific tasks, such as earth working, planting, plant and soil treatment, irrigation and harvesting, performed during continuous movement. For example, the Johnson U.S. Pat. No. 4,172,551 is directed to a linear irrigation system having a control therefor. The device of the Johnson patent is adapted to proceed in continuous movement along a channel which is employed as a source for water during irrigation. The device is controlled in such movement by a sensor which follows a signal source to direct the device in the path of travel during irrigation.  
           [0008]    It is also known in agriculture to grow plant borne crops in parallel rows so as to facilitate the performance of farming practices relative to the plant borne crops. With the mechanization of agriculture, such techniques have advanced to the point that nearly all such farming practices can be performed by various types of mechanized devices during continuous movement along the rows.  
           [0009]    However, such continuous mechanized operations have not been successful in a number of significant respects. The prior art devices directed to these operations have not been able precisely to follow the predetermined courses along which the performance of these operations would be preferred. This results in damage to the plants, the structures upon which the plants are supported, irrigation pipe and other subsystems as well as to the mechanized devices themselves. A consequence of such collateral damage is that the expense of such operations is exacerbated beyond that which it would otherwise be. This expense is usually either absorbed by the agricultural operation, or passed on to the consumer in the additional cost of the crop.  
           [0010]    Still other disadvantages in such prior art processes and devices is that the equipment is complex, heavy, expensive and not as reliable as would be desirable. The consequences attendant to each of these disadvantages is readily apparent. The equipment is difficult to control; expensive to operate; damaging to the soil, root systems and plants; and otherwise burdensome to the agricultural operation.  
           [0011]    For these and a wide variety of other disadvantages, it has long been known that it would be desirable to have a method and apparatus for handling a work object in movement relative thereto which are particularly well suited to usage in providing reliably precise guidance along a course which may be variable along its length and width; which can be operated inexpensively, with little or no training of operators; which can be employed in cooperation with otherwise conventional equipment and procedures; which are readily adaptable to a wide variety of operations, procedures, work environments and conditions; and which are particularly well suited to usage in agriculture to provide guidance for a wide variety of agricultural equipment.  
         BRIEF SUMMARY OF THE INVENTION  
         [0012]    Therefore, it is an object of the present invention to provide an improved method and apparatus for handling a work object in movement relative thereto.  
           [0013]    Another object is to provide such a method and apparatus which are readily adaptable to a wide variety of work environments and conditions in the achievement of guidance relative to a work object.  
           [0014]    Another object is to provide such a method and apparatus which operate cooperatively with otherwise conventional equipment and procedures.  
           [0015]    Another object is to provide such a method and apparatus which can be employed inexpensively and with little or no training of personnel.  
           [0016]    Another object is to provide such a method and apparatus which are particularly well suited to usage in a wide variety of agricultural work operations to provide guidance in relative movement between a work object and handling equipment.  
           [0017]    Another object is to provide such a method and apparatus which can readily be employed, in one embodiment, in providing guidance for agricultural equipment relative to row crops and in successive application to individual rows thereof.  
           [0018]    Another object is to provide such a method and apparatus which can be employed without any modification of the row crops or the support structures therefore.  
           [0019]    Another object is to provide such a method and apparatus which provide guidance for agricultural equipment relative to a row crop responding to an unlimited number of variations in the course along which the equipment must be moved in the accurate performance of the work operation.  
           [0020]    Further objects and advantages are to provide improved elements and arrangements thereof in an apparatus for the purpose described which is dependable, economical, durable and fully effective in accomplishing its intended purposes.  
           [0021]    These and other objects and advantages are achieved, in the preferred embodiment of the present invention, in a method and apparatus employing a means defining a course relative to a work object along which travel of the apparatus can be achieved in movement relative thereto; and a system for sensing the means defining the course and operably connected to a work performing system to control movement of the work performing system relative to the work object during the performance of the work operation. 
       
    
    
     BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS  
       [0022]    [0022]FIG. 1 is a top plan view of the method and apparatus of the present invention shown in one operational embodiment.  
         [0023]    [0023]FIG. 2 is a front elevation of the method and apparatus of FIG. 1.  
         [0024]    [0024]FIG. 3 is a somewhat enlarged, fragmentary, longitudinal, vertical section of the method and apparatus of FIG. 1 showing a representative row of grapevines supported on a trellis structure and with a portion of the guidance system of the subject invention removably attached to the trellis structure.  
         [0025]    [0025]FIG. 4 is a fragmentary, schematic diagram of a portion of the guidance system of the subject invention.  
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0026]    Referring more particularly to the drawings, the method and apparatus of the present invention are generally indicated by the numeral  10  in FIG. 1.  
         [0027]    The method and apparatus  10  of the present invention can be employed in a wide variety of embodiments. The method and apparatus  10  shown in the drawings described herein are merely one such embodiment, but are particularly well suited to usage in the embodiment. More specifically, the embodiment of the method and apparatus  10  are adapted for usage in the performance of a specific agricultural work operation; that is, the pruning of the canes of grapevines grown in rows in upright relation otherwise in accordance with conventional practice. Other embodiments of the method and apparatus of the subject invention include those employed in other agricultural operations in the performance of other agricultural work operations. In addition, other embodiments of the subject invention include those employed in a wide variety of other work environments.  
         [0028]    Referring then more particularly to the method and apparatus  10  as depicted in FIG. 1, the work environment thereof shows the earth  20  with the earth surface indicated by numeral  21 . A trellis structure is generally indicated by the numeral  30  in FIG. 1. The trellis structure has a construction hereinafter to be described. It will be understood that a plurality of trellis structures  30  are mounted in the earth  20  extending upwardly from the earth surface in spaced, substantially parallel relation. As shown in FIG. 1, adjoining trellis structures are spaced so as to define a path  31  therebetween. The trellis structures can be viewed as each having a starting end portion  32  relative to the practice of the method and the operation of the apparatus, both of the subject invention.  
         [0029]    Each trellis structure  30  has a pair of end posts  33 , one of which is shown in FIG. 3. It will be understood that each trellis structure has a pair of end posts, only one of which is shown in FIG. 3. The other end post of the pair of end posts of each trellis structure is at the opposite end of the trellis structure. Each end post  33  is mounted in the earth  20 , extending upwardly from the earth surface  21 . Each end post has a lower end portion  34  and an opposite upper end portion  35 . A plurality of stakes  36  are mounted in the earth  20  in aligned, spaced relation in the trellis structure between the end posts of the trellis structure. Each of the stakes has a lower end portion  37  and an opposite upper end portion  38 .  
         [0030]    In the illustrative embodiment hereof, each trellis structure  20  has a lower wire  50 , middle wire  51  and an upper wire  52 . The upper wire  52  is sometimes referred to as a “catch wire.” The lower wire, middle wire and upper wire of each trellis structure have corresponding end portions  53  which are individually mounted on and extend between the end posts  33  of their respective trellis structure. The lower wire, middle wire and upper wire extend between the end posts in vertically spaced, substantially parallel relation, as shown in FIG. 3. The lower wire, middle wire and upper wire are individually attached to the stakes  36  of their respective trellis structure in vertically spaced, substantially parallel relation. The lower wire, middle wire and upper wire of each trellis structure are made of metal, or other material, which is electrically conductive. Alternatively, at least one of the three wires is made of electrically conductive material and, as shown in FIG. 3, this is the meddle wire. The material from which the electrically conductive wire is made can be of any gauge and will conduct electricity from one end to the other the entire length of the trellis structure. The electrically conductive wire can be bare or have an insulated coating. In still another embodiment, not shown, an electrically conductive wire can be buried in the earth extending directly beneath and along the trellis structure with the opposite ends thereof individually extending to predetermined attachment points above the earth surface at the opposite ends of the trellis structure.  
         [0031]    A plurality of grapevines  60  are grown in the earth  20  in longitudinally spaced relation substantially aligned with each trellis structure  30 . Each grapevine, as shown in FIG. 3, has a trunk portion  61 , and at least one and, as shown in FIG. 3., two cordon portions  62 . The cordon portions have a plurality of shoots or canes  63  growing therefrom and trained on the upper wire  52  of the trellis structure. The shoots have terminal ends  64 .  
         [0032]    As shown in FIG. 1, a tractor is generally indicated by numeral  70  and has a front end portion  71  and an opposite rear end portion  72 . The tractor has two pairs of ground engaging wheels  73  individually mounted on the front and rear end portions thereof for earth traversing movement. The tractor is, except as herein set forth, conventional having a frame  74 , engine  75 , driver&#39;s station  76  and other subsystems making the tractor fully operational.  
         [0033]    The method and apparatus  10  of the present invention include, in the illustrative embodiment hereof, a pair of pruning assemblies  90  mounted on the frame  74  of the tractor  70  on opposite sides thereof and extending laterally of the tractor in opposite directions, as shown in FIGS. 1 and 2. The pruning assemblies are preferably aligned with the driver&#39;s station, as shown. Each of the pruning assemblies is substantially identical and so one pruning assembly will be described for illustrative convenience with the understanding that the other pruning assembly is the same except that it is a mirror image of the other, as shown best in FIG. 2.  
         [0034]    The pruning assembly  90  has a vertical beam  91  mounted on the frame  74  of the tractor  70  and extending to an upper end portion  92 . A horizontal beam  93  is mounted on the upper end portion of the vertical beam for movement along a vertical path of travel on the upper end portion of the vertical beam through a predetermined range of motion. The horizontal beam extends laterally of the tractor, as shown in FIGS. 1 and 2, to a terminal end portion  94 .  
         [0035]    A cutting bar assembly  100  is mounted on the terminal end portion  94  of the horizontal beam  93  extending downwardly therefrom, as shown in FIG. 2. The cutting bar assembly is otherwise of a conventional type having a pair of spaced substantially parallel cutting subassemblies  101 . The cutting bar assembly is mounted on the terminal end portion  94  of the horizontal beam  93  for movement in a predetermined range of motion along the horizontal beam towards and from the tractor  70 .  
         [0036]    The apparatus  10  of the present invention mounts a vertical hydraulic cylinder  102  operably interconnecting the vertical beam  91  and the horizontal beam  93 , as shown in FIG. 2. The vertical hydraulic cylinder assembly  102  is expansible and contractible to move the horizontal beam  93  throughout its vertical range of movement. A horizontal hydraulic cylinder assembly  103  is operably mounted on the horizontal beam  93  and operably interconnects the horizontal beam and the cutting bar assembly  100  and is expansible and contractible to move the cutting bar assembly  100  throughout its range of motion of the horizontal beam.  
         [0037]    Referring more particularly to FIG. 3, the method and apparatus  10  of the present invention include a transmitter  110  which is portable and light enough in weight to be moveable from place to place. The transmitter is preferably of low voltage frequency of from thirty (30) Hz to eighty (80) Khz. The transmitter has a positive lead wire  111  with a proximal end  112  operably connected to the transmitter and an opposite terminal end  113  upon which is mounted a clip  114 .  
         [0038]    A negative lead wire  115  is operably interconnected to the transmitter  110  and has a proximal end  116  and an opposite terminal end  117  mounting a clip  118 . The clip  118  is adapted to be removably electrically connected to a stake  119  driven into the earth  20 , as shown in FIG. 3. The clip  114  of the positive lead wire is adapted removably to be connected to the middle wire  51  of the trellis structure  30 , as shown in FIGS. 1 and 3.  
         [0039]    Turning then to FIG. 4, the method and apparatus  10  of the present invention include a receiving and control system generally indicated by the numeral  130 . The receiving and control system includes an electric over hydraulic solenoid assembly  131  having six hydraulic valves  132 . Each hydraulic valve  132  is connected to one of the hydraulic cylinders  102  or  103  of the pairs of hydraulic cylinders  102  and  103  by an individual pair of hydraulic conduits  132 , as shown in FIG. 4 with respect to hydraulic cylinder assembly  102 . The hydraulic solenoid assembly  131  is operably individually to control the expansion and contraction of each hydraulic cylinder  102  or  103  to which it is connected for the expansion or contraction thereof.  
         [0040]    Each of the hydraulic valves  132  is individually connected to a booster box converter  134  by a pair of electrical conductors  135 . The booster box converter is connected to a low frequency receiver  136  by an electrical cable  137 . The receiver  136  mounts an antenna  138 . The receiver, through the antenna receives a signal from the middle wire  51  and is able to operate the individual hydraulic valves  132  for control of its respective hydraulic cylinder assembly  102  and  103 . This is determined discretely for each by a separate receiver  136  and antenna  138  through a left detector  139 , center detector  140  and right detector  141 .  
         [0041]    There are, thus for receivers  136  each mounting an antenna  138  for sensing the low voltage conducted along the middle wires  51  of the trellis structures  30  bounding the path  31 , as shown in FIG. 1. One receiver is individually mounted on each vertical beam  91  facing laterally of the tractor  70 , as shown in FIG. 2. Similarly one receiver  136  is individually mounted on each horizontal beam  93  facing downwardly therefrom also as shown in FIG. 2.  
         [0042]    Each receiver  136  is thus able to detect the low voltage transmitted along the middle wires  51  of the respective trellis structures during movement of the tractor  70  down the path and, by means of the left detector  139 , center detector  140 , and right detector  141 , transmit the appropriate control voltage to the booster box converter  134  which increases the very low voltage received from one (1) volt to twelve (12) volts. The twelve (12) volt signal is then transmitted along the receivers  136  individual pair of electrical conductors  135  to operate the hydraulic cylinder assembly  102  in accordance with the signal to leave the hydraulic cylinder as is or appropriately expand or contract the respective hydraulic cylinder.  
         [0043]    Thus, the cutting bar assemblies  100  of the pruning assemblies  90  are either left in position, raised or lowered, or moved outwardly or inwardly while following the two trellis structures  30  bounding the path  31  along which the tractor is moving. The pruning assemblies are thus individually automatically so adjusted to prune the shoots  63  of the grapevines  60  of both of the trellis structures. Upon the completion of passage of the tractor and completion of the pruning operation on the two rows of grapevines the tractor is beaded into the next path bounded by two unpruned rows of grapevines and the transmitters  110  are operably connected to the middle wires  51  of the trellis structures  30  of those rows. The method of the subject invention using the apparatus thereof is then repeated with the successive adjoining rows until the pruning operation for the vineyard is complete.  
         [0044]    Therefore, the method and apparatus of the present invention achieves all of the objectives heretofore set forth in a manner not heretofore achieved in the art.  
         [0045]    Although the invention has been herein shown and described in what is conceived to be the most practical and preferred embodiments, it is recognized that departures may be made therefrom within the scope of the invention which is not to be limited to the illustrative details disclosed.