Adaptive guidance system and method

• US 20070021913A1
• Filed: 07/19/2005
• Published: 01/25/2007
• Est. Priority Date: 03/20/2003
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Satloc, LLC (Kubota Corporation)
• Inventors: McClure, John, Heiniger, Richard
• Granted Patent: US 7,689,354 B2
• Time in Patent Office: Days
• US Class Current: 701/213
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

An adaptive guidance system for a vehicle includes an on-board GPS receiver, an on-board processor adapted to store a preplanned guide pattern and a guidance device. The processor includes a comparison function for comparing the vehicle GPS position with a line segment of the preplanned guide pattern. The processor controls the guidance device for guiding the vehicle along the line segment. Various guide pattern modification functions are programmed into the processor, including best-fit polynomial correction, spline correction, turn-flattening to accommodate minimum vehicle turning radii and automatic end-of-swath keyhole turning.

Claims

1. An adaptive guidance system for a vehicle, which includes:

a preplanned guide pattern including multiple guide line segments, each segment being defined by multiple GPS data points;

a GPS receiver located on board the vehicle;

a processor located on board the vehicle and adapted for storing said guide pattern and receiving GPS data points from the receiver;

said processor including a comparison function for comparing GPS data points corresponding to current vehicle position with a subset of logged GPS data points representing a line segment; and

a guidance device for guiding said vehicle along said line segment.

2. The system according to claim 1, which includes:

said processor including a best-fit function for generating said line segments from said logged GPS data points.

3. The system according to claim 1 wherein said processor is programmed with and utilizes a polynomial equation for defining or smoothing a line segment with one or more variables chosen from among the set comprising latitude, longitude and time.

4. The system according to claim 1, which includes a function for smoothing said line segment based on a minimum turning radius of said vehicle.

5. The system according to claim 1, which includes a function for adapting a preplanned guide pattern to accommodate one or more guide path irregularities from among the group consisting of crosstrack error, coverage gap, coverage overlap, terrain irregularities, irregular field boundaries and minimum turning radius.

6. The system according to claim 5, which includes:

a function for generating a first set of parallel guide line segments corresponding to a first irregular field boundary;

a function for generating a second set of parallel guide line segments corresponding to a second irregular field boundary; and

a function for combining said first and second sets of line segments to form a preplanned guide pattern.

7. The system according to claim 1, which includes an automatic steering system connected to said vehicle and to said processor and adapted for steering said vehicle along said guide pattern.

8. The system according to claim 7, which includes a function adapted for automatically steering said vehicle through e-shaped and keyhole-shaped end-of-swath turns.

9. The system according to claim 1, which includes:

a function for extending straight line segments based on partial field GPS location data points;

a function for extending contour line segments based on partial field GPS location data points; and

a function for guiding said vehicle along said line segment extensions.

10. The system according to claim 1, which includes:

said vehicle including a spray boom with multiple spray nozzles; and

said system including a function for automatically and independently controlling the operation of spray nozzles or sections thereof based on GPS-defined locations.

11. An adaptive guidance system for a vehicle including a motive component and a working component attached thereto by an articulated hitch, which system comprises:

a preplanned guide pattern including multiple straight or contour guide line segments, each segment being defined by multiple GPS data points;

a GPS receiver located on board the vehicle;

a processor located on board the vehicle and adapted for storing said guide pattern and receiving GPS data points from the receiver;

said processor including a comparison function for comparing GPS data points corresponding to current vehicle positions with a subset of logged GPS data points representing a line segment;

said processor including a best-fit function for generating said line segment from said logged GPS data points;

said processor being programmed with and utilizing a polynomial equation for defining a line segment;

a correction function adapted for generating said line segment based on a minimum turning radius of said vehicle;

a function for adapting a preplanned guide pattern to accommodate one or more guide path irregularities from among the group consisting of crosstrack error, coverage gap, coverage overlap, terrain irregularities and irregular field boundaries;

a function for generating a first set of parallel guide line segments corresponding to a first irregular field boundary;

a function for generating a second set of parallel guide line segments corresponding to a second irregular field boundary;

a function for combining said first and second sets of line segments to form said preplanned guide pattern; and

a guidance device for guiding said vehicle along said preplanned guide pattern.

12. An adaptive guidance method for a vehicle, which method comprises the steps of:

equipping the vehicle with a GPS receiver;

equipping the vehicle with a processor connected to the GPS receiver;

inputting a preplanned guide pattern including multiple guide line segments into said processor;

adapting said guide pattern according to a predetermined operating criterium;

operating said vehicle along said guide pattern;

receiving with said receiver GPS signals comprising data points corresponding to GPS positions of said vehicle;

comparing said received GPS data points with said preplanned guide pattern; and

outputting guidance information or signals.

13. The method according to claim 12, which includes the additional steps of:

providing said processor with a best-fit function utilizing said criterium;

adapting said guide pattern by applying said best-fit function to GPS data points for generating a best-fit guide line segment; and

guiding said vehicle along said best-fit guide line segment.

14. The method according to claim 13, which includes the additional step of programming said processor and defining a line segment of said guide pattern with a polynomial equation.

15. The method according to claim 12, which includes the additional steps of:

programming said processor with data corresponding to a minimum turning radius of said vehicle comprising said criterium;

adapting said guide pattern so as not to exceed said minimum turning radius; and

guiding said vehicle along said guide pattern through turns greater than or equal to said minimum turning radius.

16. The method according to claim 12, which includes the additional steps of:

providing said vehicle with an automatic steering system connected to said processor;

inputting to said automatic steering system with steering signals from said processor; and

operating said vehicle with said automatic steering system along said guide network.

17. The method according to claim 16, which includes the additional steps of:

programming said processor with e-shaped and/or keyhole-shaped end-of-swath guide line segments; and

automatically steering said vehicle through said e-shaped and/or keyhole-shaped line segments at ends of respective swaths.

18. The method according to claim 12, which includes the additional steps of adapting said guide pattern to accommodate one or more guide path irregularities from among the group consisting of:

crosstrack error, coverage gap, coverage overlap, terrain irregularities, irregular field boundaries and minimum turning radius.

19. The method according to claim 12, which includes the additional steps of:

generating a first set of parallel guide line segments corresponding to a first irregular field boundary;

generating a second set of parallel guide line segments corresponding to a second irregular field boundary; and

combining and adapting said first and second sets of line segments to form said preplanned guide pattern.

20. The method according to claim 12, which includes the additional steps of:

programming said processor with a function for extending a first set of line segments comprising straight line segments;

programming said processor with a function for extending a second set of line segments comprising contour line segments; and

guiding said vehicle along either or both of said first and second sets of said extended line segments.

21. The method according to claim 12, which includes the additional steps of:

providing a guidance module and connecting same to said processor;

displaying a steering heading on said guidance module and steering said vehicle in a direction indicated by said steering heading;

displaying a crosstrack error on said guidance module; and

operating said steering heading and crosstrack error displays in substantially real-time as said vehicle operates along said guide pattern.

22. The method according to claim 12, which includes the additional steps of:

providing said vehicle with a sprayer including a boom with multiple nozzles;

programming said controller with positioning information for said nozzles relative to said vehicle;

recording GPS data points corresponding to said nozzle locations during operation of said sprayer; and

selectively and independently activating and deactivating individual nozzles or groups of nozzles responsive to predetermined spray application criteria including avoiding overlapping spray coverage.

23. The method according to claim 22, which includes the additional steps of:

mounting said spray nozzles on a towed sprayer implement;

towing said sprayer in a forward travel direction;

turning said vehicle whereby a portion of said spray boom moves in a reverse travel direction; and

deactivating spray nozzles associated with said reverse-traveling portion of said spray boom.

24. The method according to claim 12, which includes the additional step of providing said vehicle with one or more of the components in the group consisting of:

lateral compensating GPS-controlled hitch connecting an implement to a tow vehicle;

a mapping module connected to said processor and adapted for storing and displaying coverage areas; and

first and second GPS receivers mounted on a tow vehicle and an implement respectively.

25. The method according to claim 12 wherein said processor defines a travel pattern determined from corrections applied to multiple GPS data points located on both sides of said travel pattern.

26. The method according to claim 12, which includes the additional steps of:

diverting from said preplanned guide pattern;

forming a coverage gap where said vehicle diverts from said guide pattern;

recording GPS data points associated with said coverage gap;

resuming said preplanned guide pattern subsequent to said vehicle diverting therefrom; and

guiding said vehicle through said coverage gap subsequent to completing said preplanned guide pattern.

27. The method according to claim 12, which includes the additional steps of:

providing said vehicle with an implement including ends defining a swath width;

inputting said swath width to said processor;

operating said vehicle over a field along generally parallel swaths with widths corresponding to said swath width;

recording GPS data points corresponding to the edges of said swaths; and

guiding to the swath edge GPS data points on subsequent swaths.

28. The method according to claim 27, which includes the additional steps of:

said processor maintaining a subset of GPS data points corresponding to portions of swath edges in proximity to the implement ends; and

guiding to said GPS data point subset.

29. An adaptive guidance method for a vehicle including a motive component and a working component attached thereto by an articulated hitch, which method comprises the steps of:

equipping the vehicle with a GPS receiver;

equipping the vehicle with a processor connected to the GPS receiver;

inputting a preplanned guide pattern including multiple guide line segments into said processor;

operating said vehicle along said guide pattern;

receiving with said receiver GPS signals comprising data points corresponding to GPS positions of said vehicle;

comparing said received GPS data points with said preplanned guide pattern;

outputting guidance information or signals;

correcting said vehicle course to account for one or more navigational error sources;

providing said processor with a best-fit function;

applying said best-fit function to GPS data points for generating a best-fit guide line segment;

guiding said vehicle along said best-fit guide line segment;

programming said processor and defining a line segment of said guide pattern with a polynomial equation;

programming said processor with data corresponding to a minimum turning radius of said vehicle;

adapting said guide pattern to avoid turns with radii less than said minimum turning radius;

guiding said vehicle along said guide pattern through turns with radii greater than or equal to said minimum turning radius;

providing said vehicle with an automatic steering system connected to said processor;

inputting to said automatic steering system steering signals from said processor;

operating said vehicle with said automatic steering system along said guide network;

adapting said guide pattern to accommodate one or more guide path irregularities from among the group consisting of;

crosstrack error, coverage gap, coverage overlap, terrain irregularities, irregular field boundaries and minimum turning radius;

generating a first set of parallel guide line segments corresponding to a first irregular field boundary;

generating a second set of parallel guide line segments corresponding to a second irregular field boundary;

combining said first and second sets of line segments to form a preplanned guide pattern;

providing a guidance module and connecting same to said processor;

displaying a steering heading on said guidance module and steering said vehicle in a direction indicated by said steering heading;

displaying a crosstrack error on said guidance module; and

operating said steering heading and crosstrack error displays in substantially real-time as said vehicle operates along said guide pattern.