Method for creating end of row turns for agricultural vehicles
First Claim
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1. A method for guiding a vehicle comprising the following steps:
- providing a vehicle with an associated implement;
providing a vehicle guidance system having a vehicle position receiver;
providing a swath generation apparatus (SGA) having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system;
providing an operator input device;
communicating a set of predetermined parameters to the SGA;
defining within the SGA a coordinate system for vehicle position;
calculating, by the processing capability of the SGA by an iterative process using the predetermined parameters, at least two end of row turn paths wherein each of the end of row turn paths vary in direction from the other and defined by a plurality of position data points, by connecting predefined end points of equally spaced swath paths, based on the predetermined parameters and an actual position of the vehicle; and
providing an option to the operator to choose which end of row turn path for the vehicle to follow;
andguiding the vehicle along the at least one planned end of row turn path.
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Abstract
A GPS-based vehicle guidance system and a method for automatically guiding a vehicle through and end of a row turn. The present invention provides a method and system that automatically guides the vehicle through an end of row turn without manual control. An algorithm using the minimum turning radius of the vehicle and the rate of change of the vehicle creates a set of interpolated data points resulting in an end of row turn.
60 Citations
17 Claims
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1. A method for guiding a vehicle comprising the following steps:
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providing a vehicle with an associated implement; providing a vehicle guidance system having a vehicle position receiver; providing a swath generation apparatus (SGA) having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system; providing an operator input device; communicating a set of predetermined parameters to the SGA; defining within the SGA a coordinate system for vehicle position; calculating, by the processing capability of the SGA by an iterative process using the predetermined parameters, at least two end of row turn paths wherein each of the end of row turn paths vary in direction from the other and defined by a plurality of position data points, by connecting predefined end points of equally spaced swath paths, based on the predetermined parameters and an actual position of the vehicle; and providing an option to the operator to choose which end of row turn path for the vehicle to follow; and guiding the vehicle along the at least one planned end of row turn path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for vehicle guidance comprising the following steps:
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providing a vehicle with an associated implement; providing a vehicle guidance system having a vehicle position receiver; providing a swath generation apparatus (SGA) having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system; providing an operator input device; communicating a set of predetermined parameters to the SGA; defining within the SGA a coordinate system for vehicle position; calculating, by the processing capability of the SGA by an iterative process using the predetermined parameters, at least one planned end of row turn path defined by a plurality of position data points, by connecting predefined end points of equally spaced swath paths, based on the predetermined parameters and an actual position of the vehicle; displaying the vehicle path on a display device; providing a count down timer, and limiting a defined amount of time for an operator to decide whether to guide the vehicle along an alternate path; providing at least one of an audible or visual signal to notify an operator before making an end of row turn; providing an option to manually guide the vehicle along at least one of the planned end of row turn and an alternate path; and guiding the vehicle along the planned end of row turn path. - View Dependent Claims (10, 11, 12, 13)
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14. A vehicle guidance system comprising:
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a vehicle with an associated implement; a vehicle guidance system having a vehicle position receiver; a swath generation apparatus (SGA) having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system; an operator input device being configured to receive a set of predetermined parameters to the SGA and define a coordinate system for vehicle position and determine at least one planned end of row turn path based on the predetermined parameters and the vehicle position; an operator notification device configured to provide at least one of an audible or visual signal and a count down timer where the operator must determine to allow the guidance system to provide automatic guidance or use manual guidance of the vehicle; and wherein the vehicle guidance system provides automatic guidance of the vehicle along the planned end of row turn path. - View Dependent Claims (15, 16, 17)
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Specification