Method and apparatus for steering a farm implement to a path

• US 7,383,114 B1
• Filed: 04/07/2006
• Issued: 06/03/2008
• Est. Priority Date: 08/29/2003
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Funk, Timothy J., Lange, Arthur F.
• Primary Examiner(s): Black; Thomas G.
• Assistant Examiner(s): Behncke; Christine M
• Application Number:
  US11/400,126
• Time in Patent Office: 788 Days
• Field of Search: 701/23, 701/50, 701/25, 701/41, 701/205, 701/207, 701/300, 172/2, 172/4.5
• 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 for 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 to follow a path, comprising:

a GPS antenna disposed on said implement for receiving a GPS signal for determining GPS-based positions of said implement;

a sensor for determining offsets between said implement and said vehicle;

a dual guidance computer for steering said implement according to said GPS-based positions to follow said path while steering said vehicle according to said offsets, said offsets being determined while said implement is being guided to follow said path; and

wherein

said vehicle is steered relatively slowly with respect to more rapid steering of said implement.

2. The apparatus of claim 1, wherein:

said offsets are lateral position offsets.

3. The apparatus of claim 1, wherein:

said offsets are angle offsets.

4. The apparatus of claim 1, wherein:

the dual guidance computer steers said vehicle for minimizing said offsets.

5. The apparatus of claim 1, wherein:

the sensor determines said offsets of a hitch adapted for connecting said implement to said vehicle.

6. The apparatus of claim 1, wherein:

said offsets have a dynamic range; and

further comprising;

a pilot device coupled to the dual guidance computer for steering said vehicle for maintaining said offsets within said dynamic range.

7. An apparatus for guiding a farm implement propelled by a powered vehicle to follow a path, comprising:

a GPS antenna disposed on said implement for receiving a GPS signal for determining GPS-based positions of said implement;

a sensor for determining an offset between said implement and said vehicle; and

a dual guidance computer for steering said implement according to said GPS-based positions to follow said path while steering said vehicle according to said offset;

wherein;

the sensor determines said offset of a hitch adapted for connecting said implement to said vehicle;

the dual guidance computer issues a left-right guide signal based upon a comparison between said GPS-based positions and said path, and issues a range extent signal indicative of said offset with respect to a dynamic range of said offset; and

said hitch uses said guide signal for adjusting said offset for dynamically positioning said implement toward said path while said vehicle uses said range extent signal for steering said vehicle for maintaining said offset within said dynamic range.

8. The apparatus of claim 7, wherein:

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

9. An apparatus for guiding a farm implement propelled by a powered vehicle to follow a path, comprising:

a GPS antenna disposed on said implement for receiving a GPS signal for determining GPS-based positions of said implement;

a sensor for determining a steering angle between a direction of said implement and a direction of a steering device disposed on said implement;

a dual guidance computer for using said GPS-based positions for steering said implement to follow said path while steering said vehicle according to said steering angle, said steering angle being determined while said implement is being guided to follow said path; and

wherein

steering said vehicle includes steering said vehicle relatively slowly with respect to more rapid steering of said implement.

10. The apparatus of claim 9, wherein:

said steering angles have a dynamic range; and

a pilot device coupled to the dual guidance computer for steering said powered vehicle for maintaining said steering angles within said dynamic range.

11. A method for guiding a farm implement propelled by a powered vehicle to follow a path, comprising:

determining GPS-based positions of said implement by receiving a GPS signal with a GPS antenna disposed on said implement;

sensing offsets between said implement and said vehicle;

using said GPS-based positions for steering said implement according to said GPS-based positions to follow said path while steering said vehicle according to said offsets, said offsets being determined while said implement is being guided to follow said path; and

wherein

steering said vehicle includes steering said vehicle relatively slowly with respect to more rapid steering of said implement.

12. The method of claim 11, wherein:

said offsets are lateral position offsets.

13. The method of claim 11, wherein:

said offsets are angle offsets.

14. The method of claim 11, wherein:

steering said vehicle includes steering said vehicle for minimizing said offsets.

15. The method of claim 11, wherein:

determining said offsets includes determining said offsets of a hitch adapted for connecting said implement to said vehicle.

16. The method of claim 11, wherein:

said offsets have a dynamic range; and

steering said vehicle includes steering said vehicle for maintaining said offsets within said dynamic range.

17. A method for guiding a farm implement propelled by a powered vehicle to follow a path, comprising:

determining GPS-based positions of said implement by receiving a GPS signal with a GPS antenna disposed on said implement;

sensing an offset between said implement and said vehicle;

using said GPS-based positions for steering said implement according to said GPS-based positions to follow said path while steering said vehicle according to said offset;

determining said offset includes determining said offset of a hitch adapted for connecting said implement to said vehicle;

issuing a left-right guide signal based upon a comparison between said GPS-based positions and said path;

issuing a range extent signal indicative of said offset with respect to a dynamic range of said offset;

using said guide signal for dynamically positioning said implement toward said path; and

while said implement is being dynamically positioned, using said range extent signal for maintaining said offset within said dynamic range by adjusting said offset.

18. The method of claim 17, further comprising:

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

19. A method for guiding a farm implement propelled by a powered vehicle to follow a path, comprising:

determining GPS-based positions of said implement by receiving a GPS signal with a GPS antenna disposed on said implement;

determining a steering angle between a direction of said implement and a direction of a steering device disposed on said implement;

using said GPS-based positions for steering said implement to follow said path while steering said vehicle according to said steering angle, said steering angle being determined while said implement is being guided to follow said path; and

wherein

steering said vehicle includes steering said vehicle relatively slowly with respect to more rapid steering of said implement.

20. The method of claim 19, wherein:

said steering angles have a dynamic range; and

steering said vehicle includes adjusting said steering angles for maintaining said steering angles within said dynamic range.