METHOD FOR CREATING SPIRAL SWATHS FOR IRREGULAR FIELD BOUNDARIES
First Claim
1. A method for creating swath paths comprising the following steps:
- providing a vehicle with an associated implement;
providing a vehicle guidance system having a vehicle position receiver;
providing a swath generation apparatus (SGA) having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system;
providing an operator input device;
communicating a set of predetermined parameters to the SGA;
defining within the SGA a coordinate system for vehicle position;
establishing a baseline swath path for the SGA, the baseline swath path being configured with a starting point and an end point and defined by a plurality of position data points; and
calculating, by the processing capability of the SGA by an iterative process using the predetermined parameters, at least one swath path adjacent to the baseline swath path and defined by a plurality of position data points generally parallel to a previous swath path of the baseline swath path or at least one adjacent swath path and spaced apart from the previous swath path by a swath width, the at least one adjacent swath path having a curvature slightly differing from the curvature of the previous swath path and the at least one adjacent swath path beginning at an end point of the previous swath path wherein the interconnected swath paths form a continuous spiral swath path.
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Accused Products
Abstract
A method for calculating spiral swath paths in an area with irregular boundaries and providing automatic guidance of a vehicle along the calculated spiral swath paths. A baseline swath path is generated, and at least one adjacent swath path is calculated based on the minimum turning radius of the vehicle and associated implement. An algorithm calculates the continuous spiral swath path by monitoring a position data points at the end point of the previous swath path at the starting point of the at least one adjacent swath path, configuring a radius of curvature for each individual swath path determining the radius of curvature for each swath path and joining the individual swath paths into one continuous spiral swath path.
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Citations
16 Claims
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1. A method for creating swath paths comprising the following steps:
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providing a vehicle with an associated implement; providing a vehicle guidance system having a vehicle position receiver; providing a swath generation apparatus (SGA) having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system; providing an operator input device; communicating a set of predetermined parameters to the SGA; defining within the SGA a coordinate system for vehicle position; establishing a baseline swath path for the SGA, the baseline swath path being configured with a starting point and an end point and defined by a plurality of position data points; and calculating, by the processing capability of the SGA by an iterative process using the predetermined parameters, at least one swath path adjacent to the baseline swath path and defined by a plurality of position data points generally parallel to a previous swath path of the baseline swath path or at least one adjacent swath path and spaced apart from the previous swath path by a swath width, the at least one adjacent swath path having a curvature slightly differing from the curvature of the previous swath path and the at least one adjacent swath path beginning at an end point of the previous swath path wherein the interconnected swath paths form a continuous spiral swath path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for vehicle guidance comprising:
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a vehicle with an associated implement; a vehicle position receiver; a swath generation apparatus (SGA) having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system; an operator input device being configured to receive a set of predetermined parameters for the SGA to define a coordinate system for vehicle position; and wherein the SGA calculates, by the processing capability of the SGA by an iterative process using the predetermined parameters, at least one swath path adjacent to the baseline swath path and defined by a plurality of position data points generally parallel to a previous swath path of the baseline swath path or at least one adjacent swath path and spaced apart from the previous swath path by a swath width, the at least one adjacent swath path having a curvature slightly differing from the curvature of the previous swath path and the at least one adjacent swath path beginning at an end point of the previous swath path wherein the interconnected swath paths form a continuous spiral swath path. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification