Form line following guidance system

• US 5,987,383 A
• Filed: 04/28/1997
• Issued: 11/16/1999
• Est. Priority Date: 04/28/1997
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Keller, Russell J., Price, Gregory R., Petrie, Robert W.
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/847,935
• Time in Patent Office: 932 Days
• Field of Search: 701/213, 701/214, 701/207, 701/208, 701/50, 701/25, 172/2, 172/4, 172/5, 414/699, 414/694, 37/348, 37/347, 37/905, 37/415, 342/22, 342/64, 342/357, 342/457, 73/178 R
• US Class Current: 701/213
• CPC Class Codes: A01B 69/007 Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A first form line is defined using two or more terrestrial locations. The first form line may be predefined or may be defined by user during a spraying operation. A second form line is then computed using positioning data obtained while following the first form line and a swathing offset corresponding to the width of a spray pattern. The second form line is updated according to one or more deviations from the computed path. The deviations may correspond to operator inputted corrections which allow for obstacle avoidance, etc. The updating generally occurs by following the second form line as defined by the positioning data and the swathing offset and then deviating from the second form line to accommodate one or more terrain features. New GPS data is collected during these steps of following and deviating from the second form line and new positions are computed from the new GPS data. Finally, the updated second form line is defined using the new positions computed from the new GPS data. A further form line may then be defined using the updated second form line information and the swathing offset. A form line following apparatus may include a vehicle fitted with a GPS receiver configured to receive GPS data and GPS correction information and to compute form line following information therefrom. The form line following apparatus may also include a display device configured to receive and display the form line following information.

Claims

1. A method of form line following, comprising the steps of:

defining a first form line using two or more terrestrial locations;

defining a second form line using positioning data derived from GPS data and a swathing offset; and

updating said second form line according to one or more deviations from said second form line by following said second form line defined by said positioning data and said swathing offset, deviating from said second form line to accommodate one or more terrain features, collecting new GPS data during said steps of following and deviating and computing one or more positions therefrom, and defining an updated second form line using said positions.

2. A method as in claim 1 further comprising the step of defining a third form line using said positions and said swathing offset.

3. A form line following apparatus, comprising

a vehicle fitted with a GPS receiver configured to receive GPS data and GPS correction information and to compute position information therefrom;

and

a processor configured to define an updated form line according to position information computed while the vehicle was (a) following a previously computed form line having been defined using positioning data derived from earlier received GPS data and a swathing offset, and (b) deviating from the previously computed form line to accommodate one or more terrain features.

4. A form line following apparatus as in claim 3 further comprising a display device configured to receive and display form line following information corresponding to the updated form line.

5. A form line following apparatus as in claim 4 wherein said vehicle is further configured with an automatic steering apparatus configured to accept steering inputs according to said form line following information and to provide steering outputs to control said vehicle in accordance therewith.

6. A method of form line following, comprising

controlling a vehicle so as to follow a form line computed using positioning information provided by one or more sources of GPS information while the vehicle was (a) following a previously computed form line having been defined using earlier positioning information and a swathing offset, and (b) deviating from the previously computed form line to accommodate one or more terrain features encountered while following the previously computed form line.

7. A method as in claim 6 wherein said positioning information is provided by one or more GPS satellites.

8. A method as in claim 6 wherein said positioning information is provided by one or more pseudolites.

9. A method as in claim 6 wherein said positioning information is provided by a GPS receiver housed within said vehicle.

10. A method as in claim 6 wherein said positioning information is provided by a GPS receiver located remote from said vehicle.

11. A method comprising

operating a spraying apparatus along a form line so as to apply chemicals to a portion of a field,

the form line having been defined according to positions computed while (a) following a previously computed form line having been defined using previously derived positioning information and a swathing offset, and (b) making deviations from the previously computed form line to account for one or more terrain features encountered while operating said spraying apparatus along the previously computed form line.

12. A method as in claim 11 wherein the deviations are accounted for by applying chemicals only to a selected area of the field while operating along the form line, the selected area configured so as not to encroach upon other portions of the field upon which chemicals were applied while operating the spraying apparatus along the previously computed form line.