System and method for interactive selection and determination of agricultural vehicle guide paths offset from each other with varying curvature along their length

• US 7,451,030 B2
• Filed: 02/04/2005
• Issued: 11/11/2008
• Est. Priority Date: 02/04/2005
• Status: Active Grant

• Current Assignee: Novariant Incorporated (Kubota Corporation)
• Original Assignee: Novariant Incorporated (Kubota Corporation)
• Inventors: O'Connor, Michael L., Sapilewski, Glen A., Eglington, Michael, Leckie, Lars G.
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Broadhead; Brian J.
• Application Number:
  US11/051,490
• Publication Number:
  US 20060178825A1
• Time in Patent Office: 1,376 Days
• Field of Search: 701/208, 701/211, 701/50, 701/25, 701/209
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/024 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.

Claims

1. A method for guiding a vehicle along a series of paths, comprising the steps of:

a. causing the vehicle to traverse a first path of varying curvature;

b. providing positional information about the location of the vehicle at multiple locations along the first path of varying curvature;

c. calculating proposed subsequent paths of varying curvature based on the positional information, including possible alternative paths, using piecewise perpendicular offsets at each of the multiple locations along the first path to compute the subsequent paths of varying curvature including the alternative paths, each offset extending in a direction substantially perpendicular to a local tangent to the first path at the associated one of the multiple locations;

d. displaying the proposed subsequent paths including the alternative paths; and

e. receiving user input to select at least one of the alternative paths as a second path.

2. The method as claimed in claim 1, wherein the multiple locations have one of varying spacing or even spacing.

3. The method as claimed in claim 1, wherein the positional information is provided with centimeter-level accuracy.

4. The method as claimed in claim 1 wherein the positional information is from a Real-time Kinematic Global Positioning Satellite system.

5. The method as claimed in claim 1 further including the step of automatically steering the vehicle along the calculated and selected paths until the area is covered.

6. The method as claimed in claim 1 further including the step of manually steering the vehicle along the displayed calculated and selected paths until the area is covered.