Farm implement guidance method and apparatus

• US 7,054,731 B1
• Filed: 08/29/2003
• Issued: 05/30/2006
• Est. Priority Date: 08/29/2003
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Lange, Arthur F., Funk, Timothy J.
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Behncke, Christine M.
• Application Number:
  US10/652,454
• Time in Patent Office: 1,005 Days
• Field of Search: 342/357.17, 172/446, 172/4.5, 172/98, 701/26, 701/50
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic

Abstract

An apparatus and method using GPS for dynamically adjusting side-to-side positioning of a farm implement along a geographical path. The apparatus includes a global positioning system (GPS) antenna disposed on the farm implement, a GPS receiver coupled to the GPS antenna for determining a location of the GPS antenna, and a dual guidance computer for comparing the location to stored geographical coordinates of a desired path or providing a guide signal for offsetting the lateral position of an adjustable hitch or angling a wheel or ground rudder in a steerable implement for guiding the implement along the path; and a range extent signal for maintaining the offset of the hitch or steering angle of the implement within its dynamic range.

Claims

1. An apparatus for guiding a farm implement propelled by a powered vehicle, comprising:

a global positioning system (GPS) antenna disposed on said implement for receiving GPS signals;

a GPS receiver coupled to the GPS antenna for determining a location of the GPS antenna; and

a dual guidance computer for issuing a left-right guide signal based upon a comparison between said location and a predetermined geographical path and issuing a range extent signal indicative of a left-right position offset between said implement and said powered vehicle of an adjustable hitch with respect to a dynamic range of said position offset;

wherein;

said adjustable hitch is adapted for using said guide signal for adjusting said position offset of said farm implement in relation to said powered vehicle for dynamically positioning said farm implement on said geographical path while said powered vehicle is steered according to said range extent signal for maintaining said position offset within said dynamic range.

2. The apparatus of claim 1, wherein:

said powered vehicle includes an autopilot for steering according to said range extent signal.

3. The apparatus of claim 1, wherein:

said powered vehicle includes a display using said range extent signal for indicating said position offset with respect to said dynamic range in a form that is visually perceptible to a human user.

4. The apparatus of claim 1, wherein:

said position offset is adjusted rapidly with respect to relatively slow steering of said powered vehicle.

5. An apparatus for guiding a farm implement propelled by a powered vehicle, comprising:

a global positioning system (GPS) antenna disposed on said farm implement for receiving GPS signals;

a GPS receiver coupled to the GPS antenna for determining a geographical location of the GPS antenna; and

a dual guidance computer for issuing a left-right guide signal based upon a comparison between said location and a predetermined geographical path and issuing a range extent signal indicative of a left-right steering angle between said implement and said powered vehicle of a steering device disposed in said implement with respect to a dynamic range of said steering angle;

wherein;

the implement includes said steering device for dynamically controlling said steering angle for directly steering said farm implement along said geographical path while said powered vehicle is steered according to said range extent signal for maintaining said steering angle within said dynamic range.

6. The apparatus of claim 5, wherein:

said powered vehicle includes an autopilot for steering according to said range extent signal.

7. The apparatus of claim 5, wherein:

said powered vehicle includes a display using said range extent signal for indicating said steering angle with respect to said dynamic range in a form that is visually perceptible to a human user.

8. The apparatus of claim 5, wherein:

said steering device acts as rudder in the ground.

9. The apparatus of claim 5, wherein:

said steering device is a coulter.

10. The apparatus of claim 5, wherein:

said steering angle is adjusted rapidly with respect to relatively slow steering of said powered vehicle.

11. A method for guiding a farm implement, comprising:

receiving global positioning system (GPS) signals with a GPS antenna disposed on said implement;

determining a location of said GPS antenna from said GPS signals;

propelling said implement with a powered vehicle, said implement connected to said powered vehicle at a left-right position offset between said implement and said powered vehicle;

comparing said location to a predetermined geographical path for providing a left-right guide signal;

dynamically adjusting said left-right position offset according to said guide signal;

sensing said position offset with respect to a dynamic range of said position offset for providing a range extent signal; and

steering said powered vehicle according to said range extent signal for maintaining said position offset within said dynamic range.

12. The method of claim 11, wherein:

the step of steering includes steering said powered vehicle with an autopilot.

13. The method of claim 11, wherein:

the step of steering includes displaying said position offset with respect to said dynamic range in a form that is visually perceptible to a human user.

14. The method of claim 11, wherein:

the step of dynamically adjusting includes adjusting said position offset rapidly with respect to relatively slow steering of said powered vehicle.

15. A method for guiding a farm implement, comprising:

receiving global positioning system (GPS) signals with a GPS antenna disposed on said implement;

determining a geographical location of said GPS antenna from said GPS signals;

propelling said implement with a powered vehicle;

comparing said location to a predetermined geographical path for providing a left-right guide signal;

dynamically controlling a left-right steering angle between said implement and said powered vehicle of a steering device disposed in said implement for directly steering said implement according to said guide signal along said path;

sensing said steering angle with respect to a dynamic range of said steering angle for providing a range extent signal; and

steering said powered vehicle according to said range extent signal for maintaining said steering angle within said dynamic range.

16. The method of claim 15, wherein:

the step of steering includes steering said powered vehicle with an autopilot.

17. The method of claim 15, wherein:

the step of steering includes displaying said steering angle with respect to said dynamic range in a form that is visually perceptible to a human user.

18. The method of claim 15, wherein:

said steering device acts as rudder in the ground.

19. The method of claim 15, wherein:

said steering device is a coulter.

20. The method of claim 15, wherein:

the step of dynamically controlling includes adjusting said steering angle relatively rapidly with respect to relatively slow steering of said powered vehicle.