RASTER-BASED CONTOUR SWATHING FOR GUIDANCE AND VARIABLE-RATE CHEMICAL APPLICATION

• US 20100185364A1
• Filed: 01/18/2010
• Published: 07/22/2010
• Est. Priority Date: 01/17/2009
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Agjunction LLC (Kubota Corporation)
• Inventors: McClure, John A.
• Granted Patent: US 8,386,129 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A raster-based system for GNSS guidance includes a vehicle-mounted GNSS antenna and receiver. A processor provides guidance and/or autosteering commands based on GNSS-defined pixels forming a grid representing an area to be treated, such as a field. Specific guidance and chemical application methods are provided based on the pixel-defined treatment areas and preprogrammed chemical application prescription maps, which can include variable chemical application rates and dynamic control of the individual nozzles of a sprayer.

Claims

1. A method of guiding a vehicle including motive and working components over an area being treated by the working component, which method comprises the steps of:

providing an XY pixel grid corresponding to the area;

providing a raster-based database page comprising said XY pixel grid for said area;

providing a processor on the vehicle;

providing a GNSS guidance system connected to the processor on the vehicle;

receiving GNSS positioning signals with said guidance system;

providing said GNSS positioning signals as input to said processor;

computing GNSS-based positioning for said vehicle with said processor;

defining a GNSS-defined reference point on said area and storing the reference point coordinates with said processor;

computing X and Y pixel indices based on said GNSS-defined vehicle position in relation to said reference point with said processor;

treating portions of said area with said working component;

with said processor marking pixels in said treated area portions as treated; and

guiding said vehicle over said area utilizing said treated pixel information.

2. The method of claim 1, which includes the additional step of:

controlling said vehicle working component using said treated pixel information.

3. The method of claim 2, which includes the additional step of:

predefining said pixel grid page to cover said area or a vehicle track through said area.

4. The method of claim 1, which includes the additional steps of:

defining additional raster-based XY pixel grid pages in said area; and

expanding said database by tiling said pixel grid pages over said area.

5. The method of claim 4, which includes the additional steps of:

generating X and Y scale factors for said database; and

relating said X and Y scale factors to latitude and longitude respectively.

6. The method of claim 1, which includes the additional steps of:

computing X and Y pixel indices based on the difference between current GNSS-defined position coordinates and the reference position coordinates.

7. The method of claim 1, which includes the additional steps of:

creating with said processor a linear or multidimensional database comprising said pixel grid pages;

accessing with said processor said database;

marking pixels in said database as treated; and

guiding said vehicle using said treated pixel markings.

8. The method of claim 7, which includes the additional steps of:

driving an initial pass over said area with said vehicle;

treating pixels within said initial pass with said working component; and

marking with said processor said treated pixels as treated in said database.

9. The method of claim 8, which includes the additional steps of:

providing said vehicle working component with ends;

defining a swath coverage area with said working component ends forming opposite edges of said swath;

with said GNSS system and said processor seeking pixels in proximity to said swath edges; and

with said GNSS system and said processor guiding said vehicle along said swath edges.

10. The method of claim 1, which includes the additional steps of:

providing a sensor connected to said working component;

providing output from said sensor to said processor corresponding to the operation of said working component on said area; and

marking each said pixel treated by said working component using said sensor output.

11. The method of claim 1, which includes the additional steps of:

providing a display device 1 said vehicle; and

providing an output from said processor to said display device depicting pixel conditions and the vehicle position on said pixel grid page.

12. The method of claim 1, which includes additional steps of:

providing an autosteer system on said vehicle;

with said processor generating steering commands using the marked pixel information and said XY pixel page database; and

outputting said steering commands to said autosteer system for automatically steering said vehicle over said area.

13. The method of claim 1, which includes the additional steps of:

computing an application map for said area corresponding to treatments of pixels therein with said working component;

guiding said vehicle with said application map while treating said pixels; and

marking treated pixels as treated.

14. The method of claim 1, which includes the additional steps of:

detecting a vehicle direction of travel with said GNSS system;

walking up the pixels in the vehicle path to a target pixel;

testing pixels alongside said vehicle path for treated conditions based on a swath width of said working component; and

guiding said vehicle towards said target pixel using said treated condition pixel information alongside said vehicle path.

15. The method of claim 14, which includes the additional steps of:

testing multiple scans to the side of said vehicle path for treated pixels;

testing multiple distances ahead for treated pixels;

detecting a curve condition defined by treated pixels; and

guiding said vehicle alongside curve using said treated pixel information.

16. The method of claim 1, which includes the additional steps of:

providing said vehicle with speed control;

programming said processor to control said vehicle speed control;

detecting an end-of-row condition in said area; and

guiding said vehicle through a turnaround using said speed control.

17. The method of claim 1, which includes the additional steps of:

preprogramming said processor with variables corresponding to vehicle performance dynamics;

determining altitudes of said pixels with said GNSS system; and

adjusting guidance and steering for vehicle slippage, sloping surface chemical spray patterns and crop heights using said vehicle performance dynamics and said pixel altitudes.

18. The method of claim 1 wherein said vehicle comprises a sprayer and said working component includes a spray boom with opposite ends and multiple spray nozzles positioned therealong, which method includes the additional steps of:

preprogramming said processor with variables corresponding to nozzle and spray dynamics;

inputting a prescription map of pixels and desired chemical application rates at said pixels;

computing a flow rate based on desired coverage and vehicle speed;

reading said pixel database for nozzle locations;

controlling nozzle operations based on said nozzle locations;

blocking chemical flow from said nozzles at locations outside desired coverage areas;

comparing applied chemical information to said prescription map;

reapplying chemicals to underapplied pixels;

measuring actual applied chemical rates; and

updating said prescription database to reflect remaining necessary chemical applications.

19. A method of guiding an agriculture sprayer vehicle including a motive component and a spray component with a spray boom having opposite ends and multiple spray nozzles mounted in spaced relation between said ends, said components being interconnected by a power hitch adapted for laterally shifting said working component relative to said motive component, which method comprises the steps of:

providing an XY pixel grid corresponding to the area;

providing a raster-based database page comprising said XY pixel grid for said area;

providing a processor on the vehicle;

providing a GNSS guidance system connected to the processor on the vehicle;

receiving GNSS positioning signals with said guidance system;

providing said GNSS positioning signals as input to said processor;

computing GNSS-based positioning for said vehicle with said processor;

defining a GNSS-defined reference point on said area and storing the reference point coordinates with said processor;

computing X and Y pixel indices based on said GNSS-defined vehicle position in relation to said reference point with said processor;

treating portions of said area with said working component;

with said processor marking pixels in said treated area portions as treated;

guiding said vehicle over said area utilizing said treated pixel information;

defining additional raster-based XY pixel grid pages in said area;

expanding said database by tiling said pixel grid pages over said area;

generating X and Y scale factors for said database;

relating said X and Y scale factors to latitude and longitude respectively;

computing X and Y pixel indices based on the difference between current GNSS-defined position coordinates and the reference position coordinates;

creating with said processor a linear or multidimensional database comprising said pixel grid pages;

accessing with said processor said database;

marking pixels in said database as treated;

defining a swath coverage area with said working component ends forming opposite edges of said swath;

with said GNSS system and said processor seeking pixels in proximity to said swath edges;

with said GNSS system and said processor guiding said vehicle along said swath edges;

providing an autosteer system on said vehicle;

with said processor generating steering commands using the marked pixel information and said XY pixel page database;

outputting said steering commands to said autosteer system for automatically steering said vehicle over said area;

with said processor and said GNSS system laterally shifting said working component relative to said motive component for maintaining said working component generally within said swath;

computing an application map for said area corresponding to treatments of pixels therein with said working component;

guiding said vehicle with said application map while treating said pixels; and

detecting a vehicle direction of travel with said GNSS system;

walking up the pixels in the vehicle direction of travel to a target pixel;

testing pixels in multiple scans alongside said vehicle path for treated conditions based on a swath width of said working component;

guiding said vehicle towards said target pixel using said treated condition pixel information alongside said vehicle path;

testing multiple distances ahead for treated pixels;

detecting a curve condition defined by treated pixels;

guiding said vehicle alongside said curve using said treated pixel information;

preprogramming said processor with variables corresponding to vehicle performance dynamics;

determining altitudes of said pixels with said GNSS system; and

adjusting guidance and steering for vehicle slippage, sloping surface chemical spray patterns and crop heights using said vehicle performance dynamics and said pixel altitudes.

20. A system for guiding a vehicle including a motive component and a spray component with a spray boom having opposite ends and multiple spray nozzles mounted in spaced relation between said ends, said components being interconnected, which system comprises:

a raster-based database page including an XY pixel grid for at least a portion of said area;

a processor mounted on the vehicle and adapted for accessing the database;

a GNSS guidance system connected to the processor and adapted for receiving GNSS positioning signals and providing said GNSS positioning signals as input to said processor;

said processor being adapted for computing GNSS-based positioning for said vehicle with said processor and defining a GNSS-defined reference point on said area and storing the reference point coordinates with said processor;

said processor being adapted for computing X and Y pixel indices based on said GNSS-defined vehicle position in relation to said reference point;

said processor being adapted for marking pixels in said treated area portions as treated;

said guidance system being adapted for guiding said vehicle over said area utilizing said treated pixel information;

said processor being adapted for defining additional raster-based XY pixel grid pages in said area and expanding said database by tiling said pixel grid pages over said area;

said processor being adapted for generating X and Y scale factors for said database and relating said X and Y scale factors to latitude and longitude respectively;

said processor being adapted for computing X and Y pixel indices based on the difference between current GNSS-defined position coordinates and the reference position coordinates;

said processor being adapted for marking pixels in said database as treated;

said guidance system being adapted for guiding said vehicle using said treated pixel markings and defining a swath coverage area with said working component ends forming opposite edges of said swath;

said GNSS system and said processor being adapted for seeking pixels in proximity to said swath edges and guiding said vehicle along said swath edges;

an autosteer system on said vehicle;

said processor being adapted for generating steering commands using the marked pixel information and said XY pixel page database;

said processor being adapted for outputting said steering commands to said autosteer system for automatically steering said vehicle over said area;

said processor being adapted for computing an application map for said area corresponding to treatments of pixels therein with said working component;

said processor being adapted for guiding said vehicle with said application map while treating said pixels, detecting a vehicle direction of travel with said GNSS system, walking up the pixels in the vehicle direction of travel to a target pixel, testing pixels alongside said vehicle path for treated conditions based on a swath width of said working component, guiding said vehicle towards said target pixel using said treated condition pixel information alongside said vehicle path, testing multiple scans to the side of said vehicle path for treated pixels, testing multiple distances ahead for treated pixels, detecting a curve condition defined by treated pixels and guiding said vehicle alongside said curve using said treated pixel information;

said GNSS system being adapted for determining altitudes of said pixels; and

said processor being adapted for adjusting guidance and steering for vehicle slippage, sloping surface chemical spray patterns and crop heights using said vehicle performance dynamics and said pixel altitudes.