Method and apparatus for providing autoguidance for multiple agricultural machines

• US 6,205,381 B1
• Filed: 03/26/1999
• Issued: 03/20/2001
• Est. Priority Date: 03/26/1999
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Staub, Michael D., Motz, Darin S., Plumer, Elliott E.
• Primary Examiner(s): Louis-Jacques, Jacques H.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/277,082
• Time in Patent Office: 725 Days
• Field of Search: 701/23, 701/25, 701/26, 701/50, 701/200, 701/201, 701/202, 701/96, 702/2, 702/5, 342/357.13, 342/457, 340/998, 340/995, 340/994, 340/435, 340/436, 180/167-169, 172/5, 172/71, 172/102, 172/107, 172/134, 172/145-148, 172/687
• US Class Current: 701/25
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• 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
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

A method and apparatus for providing autoguidance for a plurality of agricultural machines. Each agricultural machine has a work implement attached to it. The method includes the steps of determining a reference path by a first agricultural machine, communicating the location of the reference path to each remaining agricultural machine, and determining a plurality of desired paths parallel to the reference path by each of the plurality of agricultural machines. Each plurality of desired paths is determined as a function of the width of the corresponding work implement for each respective agricultural machine.

Claims

1. A method for providing autoguidance for a plurality of agricultural machines in a field, each agricultural machine having a work implement attached, including the steps of:

determining a reference path by a first agricultural machine, the reference path having a start point and an end point;

communicating the location of the reference path to each remaining agricultural machine; and

determining a plurality of desired paths parallel to the reference path by each of the plurality of agricultural machines, each plurality of desired paths being determined as a function of the width of the corresponding work implement for each respective agricultural machine.

2. A method, as set forth in claim 1, wherein determining a reference path includes the steps of:

determining a first position of the first agricultural machine, the first position corresponding to the start point;

determining a second position of the first agricultural machine, the second position corresponding to the end point; and

determining the reference path from the first position to the second position as a function of geographical constraints of the field.

3. A method, as set forth in claim 2, further including the step of determining the position and heading of each agricultural machine.

4. A method, as set forth in claim 3, further including the step of storing each plurality of desired paths in a swath manager located on each respective agricultural machine.

5. A method, as set forth in claim 4, further including the step of updating the swath manager on each agricultural machine as a function of the work performed by each respective agricultural machine.

6. A method, as set forth in claim 5, further including the steps of:

communicating the position and heading of each agricultural machine to each other agricultural machine; and

communicating the updated swath manager data from each agricultural machine to each other agricultural machine.

7. A method, as set forth in claim 6, further including the step of displaying the swath manager data on a display located on each agricultural machine.

8. A method, as set forth in claim 7, wherein the displayed data includes the positions and headings of the plurality of agricultural machines with respect to the plurality of desired paths.

9. A method, as set forth in claim 7, wherein the displayed data includes the updated swath manager data of the work being performed by the plurality of agricultural machines.

10. A method, as set forth in claim 1, wherein the width of each work implement is substantially the same as the width of each other work implement.

11. A method, as set forth in claim 1, wherein the width of at least one work implement is substantially different than the width of at least one other work implement.

12. A method, as set forth in claim 11, wherein each plurality of desired paths is determined as a block of paths with respect to each other plurality of desired paths.

13. A method, as set forth in claim 11, wherein each plurality of desired paths is determined as an alternating series of paths with respect to each other plurality of desired paths.

14. An apparatus for providing autoguidance for a plurality of agricultural machines in a field, each agricultural machine having a work implement attached, comprising:

a position determining system located on each agricultural machine;

a swath manager located on each agricultural machine;

means for communicating between each agricultural machine; and

a processor located on each agricultural machine;

wherein the processor located on a first agricultural machine is adapted to determine a reference path having a start point and an end point, and communicate the location of the reference path to each remaining agricultural machine; and

wherein the processor located on each agricultural machine is adapted to determine a plurality of desired paths parallel to the reference path, each plurality of desired paths being determined as a function of the width of the corresponding work implement for each respective agricultural machine.

15. An apparatus, as set forth in claim 14, further including a display located on each agricultural machine.

16. An apparatus, as set forth in claim 15, wherein the display on each agricultural machine is adapted to display the positions and headings of the plurality of agricultural machines with respect to the plurality of desired paths.

17. An apparatus, as set forth in claim 15, wherein the display on each agricultural machine is adapted to display updated swath manager data of the work being performed by the plurality of agricultural machines.

18. An apparatus for providing autoguidance for a plurality of agricultural machines in a field, each agricultural machine having a work implement attached, comprising:

means for determining a reference path by a first agricultural machine, the reference path having a start point and an end point;

means for communicating the location of the reference path to each remaining agricultural machine; and

means for determining a plurality of desired paths parallel to the reference path by each of the plurality of agricultural machines, each plurality of desired paths being determined as a function of the width of the corresponding work implement for each respective agricultural machine.

19. An apparatus, as set forth in claim 18, wherein the means for determining a reference path includes:

means for determining a first position of the first agricultural machine, the first position corresponding to the start point;

means for determining a second position of the first agricultural machine, the second position corresponding to the end point; and

means for determining the reference path from the first position to the second position as a function of geographical constraints of the field.

20. An apparatus, as set forth in claim 19, further including means for determining the position and heading of each agricultural machine.

21. An apparatus, as set forth in claim 20, further including means for storing each plurality of desired paths in a swath manager located on each respective agricultural machine.

22. An apparatus, as set forth in claim 21, further including means for updating the swath manager on each agricultural machine as a function of the work performed by each respective agricultural machine.

23. An apparatus, as set forth in claim 22, further including:

means for communicating the position and heading of each agricultural machine to each other agricultural machine; and

means for communicating the updated swath manager data from each agricultural machine to each other agricultural machine.

24. An apparatus, as set forth in claim 23, further including means for displaying the swath manager data on each agricultural machine, the means for displaying including displays of the positions and headings of the plurality of agricultural machines with respect to the plurality of desired paths, and updated swath manager data of the work being performed by the plurality of agricultural machines.