GPS derived swathing guidance system

• US 20020072850A1
• Filed: 12/08/2000
• Published: 06/13/2002
• Est. Priority Date: 12/08/2000
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Satloc, LLC (Kubota Corporation)
• Inventors: McClure, John A., Collins, Dennis M., Heiniger, Richard W.
• Granted Patent: US 6,539,303 B2
• Time in Patent Office: Days
• US Class Current: 701/213
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 2205/002 for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A swathing guidance system includes a controller storing data defining a desired vehicle path, a position detector subsystem such as a differential GPS receiver, and a display to graphically display current spatial parameters and corrective steering actions to place the vehicle on the desired path or to maintain it on the path. The controller periodically selects a future intercept point on the path and calculates a steering correction angle to point the vehicle toward the intercept point. The display includes a steering guide which displays the steering correction angle relative to the current heading and the current track error or distance from the desired path. The steering correction angle can alternatively be applied to an automatic steering mechanism to automatically maintain the vehicle on the desired path. In agricultural applications, the system is applicable to both parallel and contour cultivation modes.

Claims

1. A guidance method for guiding a vehicle and comprising the steps of:

(a) storing data defining a vehicle path in a guidance controller;

(b) moving a vehicle in spatial relation to said path;

(c) detecting a position of said vehicle in relation to said path using a position detecting system;

(d) automatically selecting, by said controller, a future intercept point on said path;

(e) generating a steering correction signal having a steering correction parameter substantially proportional to a steering correction angle which would cause said vehicle to intercept said intercept point;

(f) steering said vehicle toward said intercept point in response to said steering correction signal; and

(g) periodically repeating steps (c), (d), (e), and (f) to thereby place or maintain said vehicle on said vehicle path.

2. A method as set forth in claim 1 and including the steps of:

(a) interfacing a steering guide display device to said controller;

(b) coupling said steering correction signal to said steering guide display device to thereby display an angular steering correction substantially proportional to said steering correction angle; and

(c) manually steering said vehicle substantially commensurate with the displayed angular steering correction.

3. A method as set forth in claim 2 and including the steps of:

(a) interfacing an arcuate array of visual steering indicators with said controller;

(b) visually designating a substantially centered reference heading indicator to thereby associate said reference heading indicator with a current vehicle heading; and

(c) activating at least one of said steering indicators in response to said steering correction signal in such a manner as to display said angular steering correction, relative to said current vehicle heading.

4. A method as set forth in claim 1 and including the steps of:

(a) interfacing to said controller a position display device operable to display a relative lateral distance and a relative lateral direction of said path from said vehicle; and

(b) coupling a path error signal to said position display device to cause same to display said relative lateral distance and relative lateral direction of said path from said vehicle.

5. A method as set forth in claim 4 and including the steps of:

(a) interfacing a linear array of visual position indicators with said controller;

(b) visually designating a substantially centered current position indicator to thereby associate said current position indicator with a current position of said vehicle; and

(c) activating at least one of said position indicators in response to said path error signal to thereby visually display said relative lateral distance and relative lateral direction of said path from said current position.

6. A method as set forth in claim 1 wherein said path constitutes a first path and including the steps of:

(a) entering data representing a path offset distance into said controller;

(b) calculating, by said controller, offset path data representing an offset path of said vehicle which is laterally offset from said first path by substantially said offset path distance; and

(c) performing said detecting, automatically selecting, generating, steering, and periodically repeating steps in relation to said offset path.

7. A method as set forth in claim 1 and including the steps of:

(a) interfacing an automatic steering mechanism to said controller; and

(b) coupling said steering correction signal to said steering mechanism to cause same to steer said vehicle toward said intercept point.

8. A method as set forth in claim 1 and including the step of:

(a) detecting said current position using a satellite based global positioning system receiver.

9. A swath guidance method for guiding an agricultural vehicle in working a field and comprising the steps of:

(a) storing, in a guidance controller, first path data representing path coordinates defining a first agricultural vehicle path;

(b) moving said vehicle in relation to said first path;

(c) detecting a position of said vehicle using at least a satellite based global positioning system receiver coupled to said controller;

(d) automatically selecting, by said controller, a future intercept point on said first path;

(e) generating a steering correction signal having a steering correction parameter substantially proportional to a steering correction angle which would cause said vehicle to intercept said intercept point;

(f) steering said vehicle toward said intercept point in response to said steering correction signal; and

(g) periodically repeating steps (c), (d), (e), and (f) to thereby place or maintain said vehicle on said first path.

10. A method as set forth in claim 9 and including the steps of:

(a) interfacing a steering guide display device to said controller;

(b) coupling said steering correction signal to said steering guide display device to thereby display an angular steering correction substantially proportional to said steering correction angle; and

(c) manually steering said vehicle substantially commensurate with the displayed angular steering correction.

11. A method as set forth in claim 10 and including the steps of:

(a) interfacing an arcuate array of visual steering indicators with said controller;

(b) visually designating a substantially centered reference heading indicator to thereby associate said reference heading indicator with a current vehicle heading; and

(c) activating at least one of said steering indicators in response to said steering correction signal in such a manner as to display said angular steering correction, relative to said current vehicle heading.

12. A method as set forth in claim 9 and including the steps of:

(a) interfacing to said controller a position display device operable to display a relative lateral distance and a relative lateral direction of said first path from said vehicle; and

(b) coupling a path error signal to said position display device to cause same to display said relative lateral distance and relative lateral direction of said first path from said vehicle.

13. A method as set forth in claim 12 and including the steps of:

(a) interfacing a linear array of visual position indicators with said controller;

(b) visually designating a substantially centered current position indicator to thereby associate said current position indicator with a current position of said vehicle; and

(c) activating at least one of said position indicators in response to said path error signal to thereby visually display said relative lateral distance and relative lateral direction of said first path from said current position.

14. A method as set forth in claim 9 and including the steps of:

(a) entering into said controller implement width data representing an implement width which is an effective width of said vehicle;

(b) calculating, by said controller, offset path data representing an offset path of said vehicle which is laterally offset from said first path by substantially said implement width; and

(c) performing said detecting, automatically selecting, generating, steering, and periodically repeating steps in relation to said offset path.

15. A method as set forth in claim 9 and including the steps of:

(a) interfacing an automatic steering mechanism to said controller; and

(b) coupling said steering correction signal to said steering mechanism to cause same to steer said vehicle toward said intercept point.

17. An apparatus as set forth in claim 16 wherein said steering guide display includes:

(a) an arcuate array of visual steering indicators coupled to said controller;

(b) a reference line including an array origin and intersecting a reference steering indicator, said reference line being associated with a current vehicle heading; and

(c) said controller and said steering indicators cooperating to activate at least one of said steering indicators to thereby display said representation of said steering correction angle relative to said reference line.

18. An apparatus as set forth in claim 16 and including:

(a) a position display device coupled to said controller and operable to display a relative lateral distance and a relative lateral direction of said path from said vehicle; and

(b) said controller generating a path error signal to cause said position display device to display said relative lateral distance and relative lateral direction of said path from said vehicle.

19. An apparatus as set forth in claim 18 wherein said position display device includes:

(a) a linear array of visual position indicators coupled to said controller;

(b) a substantially centered one of said indicators being visually designated as a current position indicator to associate same with a current position of said vehicle; and

(c) said controller causing at least one of said position indicators to be activated in such a manner as to display said relative lateral distance and relative lateral direction of said path from said vehicle.

20. An apparatus as set forth in claim 16 and including:

(a) an automatic steering mechanism mounted on said vehicle and operable to steer said vehicle; and

(b) said steering mechanism being interfaced to said controller in such a manner as to steer said vehicle in response to said steering correction angle calculated by said controller.

21. An apparatus as set forth in claim 16 wherein said position detector circuitry includes:

(a) a satellite based global position system receiver.

16. A swath guidance apparatus for guiding an agricultural vehicle in working a field and comprising:

(a) position detector circuitry positioned on said vehicle and operative to detect a current geographic position and to output data representing geographic coordinates of said geographic position;

(b) a swath guidance controller having said position detector circuitry coupled thereto and including data storage circuitry;

(c) a steering guide display visually displaying a representation of a steering correction angle; and

(d) said position detector circuitry, said controller, and said display cooperating to store data representing a vehicle path, to periodically compare a currently detected position with a selected intercept point on said vehicle path, to calculate said steering correction angle to change a heading of said vehicle toward said intercept point, and to cause display on said steering guide display of a representation of said steering correction angle.