Method for creating spiral swath patterns for convex polygon shaped field boundaries

• US 7,715,966 B2
• Filed: 06/29/2009
• Issued: 05/11/2010
• Est. Priority Date: 03/02/2007
• Status: Active Grant

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Dix, Peter J., Moaveni-Nejad, Kousha
• Primary Examiner(s): Black; Thomas G.
• Assistant Examiner(s): Chen; Shelley
• Application Number:
  US12/493,332
• Publication Number:
  US 20090265053A1
• Time in Patent Office: 316 Days
• Field of Search: 701/50, 701/26
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface

Abstract

A computationally efficient method for generating a spiral swath pattern for a region of a field bounded by a convex polygon, the method automatically generating curved portions for the swath pattern having radii of curvature greater than a minimum turning radius based on the minimum turning radius and a definition of the field boundary.

Claims

1. A method for generating a spiral swath pattern to be driven by a work vehicle over a convex polygon shaped region of a field, the method comprising the steps of:

determining a minimum turning radius, such that the minimum turning radius defines the minimum radius of curvature of the swath pattern;

defining a swath width as a function of a lateral extent of the work vehicle or an implement of the work vehicle;

defining a boundary for the region including first through nth line segments having headings in a direction of rotation and intersecting at first through nth corners defined by first through nth angles;

defining first through nth bases, wherein the second through nth bases are located at the second through nth corners, respectively, and the first base is located at a transition corner defined by an intersection of the nth line segment and a transition line parallel to the first line segment and spaced toward the interior of the region by one swath width;

defining first through nth bisectors having headings toward the interior of the region at the first through nth bases, respectively, such that the first through nth bisectors bisect the transition angle and the second through nth angles, respectively;

generating the spiral swath pattern as a series of concentric swath lines to be driven by the work vehicle in the direction of rotation, each one of the swath lines including first through nth linear portions spaced apart at the swath width and corresponding to the first through nth line segments, respectively, and first through nth curved portions defined along a circle having a radius greater than or equal to the minimum turning radius tangent to consecutive linear portions and centered along the first through nth bisectors, respectively, the swath lines generated as a function of at least some of;

a) the boundary of the region;

b) the minimum turning radius;

c) the first through nth bisectors; and

d) the swath width.

2. The method of claim 1, wherein subsequent swath lines are generated by defining first through nth linear portions spaced one swath width from first through nth linear portions, respectively, of a previous swath line and defining first through nth curved portions along circles having a radius greater than or equal to the minimum turning radius tangent to consecutive linear portions of the previous swath line and centered along the first through nth bisectors, respectively.

3. The method of claim 2, further comprising the steps of calculating transition points for transitioning between the linear portion and the curved portion for each one of the swath lines as a function of the first through nth bases, the first through nth bisectors and the minimum turning radius.

4. The method of claim 3, wherein first through nth skips for each one of the swath lines are identified as a function of the first through nth bases, the first through nth bisectors, the minimum turning radius, and the transition points for each one of the swath lines.

5. The method of claim 4, further comprising the step of generating additional swath lines to be driven by the work vehicle corresponding to the first through nth skips for each one of the swath lines.

6. The method of claim 1, wherein the swath pattern is generated by a control system of the work vehicle.

7. The method of claim 1, wherein the swath pattern is generated remotely and communicated to a control system of the work vehicle.

8. A method for generating a spiral swath pattern including concentric swath lines to be driven by a work vehicle over a convex polygon shaped region of a field, the method comprising the steps of:

determining a minimum turning radius, such that the minimum turning radius defines the minimum radius of curvature of the swath pattern;

defining a swath width as a function of a lateral extent of the work vehicle or an implement of the work vehicle;

defining a direction of rotation of the spiral swath pattern;

defining a boundary for the region including first through nth line segments having headings in the direction of rotation and intersecting at first through nth corners defined by first through nth angles;

defining first through nth bases having first through nth base angles as a function of the first through nth line segments, the first through nth angles, and the swath width;

defining first through nth bisectors at the first through nth bases, respectively, such that the first through nth bisectors bisect the first through nth base angles, respectively;

generating the spiral swath pattern as a series of swath lines to be driven by the work vehicle in the direction of rotation, each one of the swath lines including first through nth linear portions corresponding to the first through nth line segments, respectively, and first through nth curved portions corresponding to the first through nth bases, respectively, the first through nth curved portions defined along a circle centered along each one of the first through nth bisectors and tangent to consecutive linear portions, the circle having a radius greater than or equal to the minimum turning radius, the swath lines generated as a function of at least some of;

a) the boundary of the region;

b) the minimum turning radius;

c) the first through nth bisectors; and

d) the swath width.

9. The method of claim 8, wherein at least one base is defined at the intersection of one of the line segments and a transition line parallel to a consecutive line segment and spaced toward the interior of the region by one swath width and generating the spiral swath pattern includes generating subsequent swath lines by defining subsequent first through nth bases, defining first through nth linear portions spaced one swath width from first through nth linear portions, respectively, of a previous swath line and defining first through nth curved portions along circles having a radius greater than or equal to the minimum turning radius tangent to consecutive linear portions of the previous swath line and centered along the first through nth bisectors, respectively as a function of the first through nth bases of the previous swath line, the first through nth bisectors, the swath width, and the first through nth base angles.

10. The method of claim 9, further comprising the steps of:

calculating transition points for transitioning between the linear portion and the curved portion for each one of the swath lines as a function of the first through nth bases, the first through nth bisectors and the minimum turning radius.

11. The method of claim 10, wherein first through nth skips for each one of the swath lines are identified as a function of the first through nth bases, the first through nth bisectors, the minimum turning radius, and the transition points for each one of the swath lines.

12. The method of claim 11, further comprising the step of generating additional swath lines to be driven by the work vehicle corresponding to the first through nth skips for each one of the swath lines.

13. The method of claim 8, wherein the swath pattern is generated by a control system of the work vehicle.

14. The method of claim 8, wherein the swath pattern is generated remotely and communicated to a control system of the work vehicle.