METHOD FOR CREATING SPIRAL SWATHS FOR IRREGULAR FIELD BOUNDARIES

• US 20080215203A1
• Filed: 03/02/2007
• Published: 09/04/2008
• Est. Priority Date: 03/02/2007
• Status: Active Grant

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Dix, Peter J., Moaveni-Nejad, Kousha
• Granted Patent: US 7,706,948 B2
• Time in Patent Office: Days
• US Class Current: 701/26
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface

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.

Claims

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.

2. The method of claim 1 wherein the predetermined parameters include at least a minimum turning radius for the vehicle and associated implement.

3. The method of claim 1 further comprising the step of providing an option to manually or automatically guide the vehicle along the calculated plurality of swath paths, and disengaging the control signal to the steering mechanism of the vehicle in response to selecting the option to manually guide the vehicle.

4. The method of claim 1 wherein the step of establishing a baseline swath path for the SGA further comprises establishing a baseline swath path for the SGA by at least one of storing a traveled swath path of the vehicle, recalling a saved swath path, and creating a swath path at a remote location.

5. The method of claim 4 wherein creating a swath path at a remote location further comprises generating a baseline swath path on a personal computer.

6. The method of claim 1 wherein the position data points are spaced apart a minimum distance of 3 meters apart and a maximum distance of 10 meters apart.

7. The method of claim 1 wherein the step of calculating by an iterative process using the predetermined parameters further comprises:

monitoring at plurality of adjacent position data points adjacent the end point of the previous swath path and a plurality of adjacent position data points adjacent the starting point of the at least one adjacent swath path;

determining within the SGA a radius of curvature for each series of the plurality of adjacent position data points in the previous swath path;

comparing within the SGA the radius of curvature for each series of the plurality of adjacent position data points to the minimum turning radius; and

adjusting one or more of the plurality of adjacent position data points for which the radius of curvature is substantially less than the minimum turning radius so that curvature in the previous swath path has a radius of curvature equal to or greater than the minimum turning radius.

8. The method of claim 1 wherein the spiral swath path comprises a baseline swath path and one adjacent swath path.

9. A system for vehicle guidance comprising:

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.

10. The system of claim 9 wherein the predetermined parameters include at least a minimum turning radius for the vehicle and associated implement.

11. The system of claim 9 further comprising the SGA providing an option to manually guide the vehicle along the calculated plurality of swath paths, and when chosen by the operator, disengages the control signal to the steering mechanism of the vehicle.

12. The system of claim 9 wherein establishing the baseline swath path for the SGA further comprises establishing a baseline swath path for the SGA by at least one of storing a traveled swath path of the vehicle, recalling a saved swath path, and creating a swath path at a remote location.

13. The system of claim 12 wherein creating the baseline swath path at a remote location further comprises generating a baseline swath path on a personal computer.

14. The system of claim 9 wherein the position data points are spaced apart a minimum distance of about 3 meters and a maximum distance of 10 meters.

15. The system of claim 9, further comprising:

the SGA monitors a plurality of adjacent position data points adjacent the end point of the previous swath path and a plurality of adjacent position data points adjacent the starting point of the at least one adjacent swath path;

the SGA configures a radius of curvature for each series of the plurality of adjacent position data points in the previous swath path;

the SGA determines the radius of curvature for each series of the plurality of adjacent position data points to the minimum turning radius; and

the one or more of the plurality of adjacent position data points are adjusted for which the radius of curvature is substantially less than the minimum turning radius so that curvature in the previous swath path has a radius of curvature equal to or greater than the minimum turning radius.

16. The system of claim 9 wherein the spiral swath path comprises a baseline swath path and one adjacent swath path.