Vehicle navigation system and method for swathing applications

• US 20030187577A1
• Filed: 03/25/2003
• Published: 10/02/2003
• Est. Priority Date: 12/08/2000
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Satloc, LLC (Kubota Corporation)
• Inventors: Collins, Dennis M., McClure, John A., Heiniger, Richard W.
• Granted Patent: US 6,711,501 B2
• Time in Patent Office: Days
• US Class Current: 701/213
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 2205/002 for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A swathing guidance system includes a controller storing data defining a desired vehicle path, a position detector subsystem such as a differential GPS receiver, and a display to graphically display current spatial parameters and corrective steering actions to place the vehicle on the desired path or to maintain it on the path. The controller periodically selects a future intercept point on the path and calculates a steering correction angle to point the vehicle toward the intercept point. The display includes a steering guide which displays the steering correction angle relative to the current heading and the current track error or distance from the desired path. The steering correction angle can alternatively be applied to an automatic steering mechanism to automatically maintain the vehicle on the desired path. In agricultural applications, the system is applicable to both parallel and contour cultivation modes.

Claims

1. A vehicle navigation system for swathing applications, which system comprises:

a controller including memory adapted for storing positional data corresponding to an area of swath coverage by said vehicle;

a position detector for detecting a current position of said vehicle relative to said swath coverage area, said position detector outputting positional data as input to said controller;

said controller being adapted to compute and output signals corresponding to relative headings of said vehicle from its current position towards said swath area;

a display subsystem connected to said controller and receiving said heading output signals therefrom; and

said display subsystem including a heading display with an arcuate or linear directional representation adapted to display a relative heading of said vehicle with respect to said swath area.

2. The navigation system according to claim 1, which includes:

said directional representation being convex upwardly and/or forwardly with respect to said vehicle and including right and left sides associated with right and left sides of said vehicle respectively.

3. The navigation system according to claim 1 wherein:

said directional representation includes right and left sides associated with right and left sides of said vehicle respectively; and

said sides are selectively illuminated in proportion to said relative heading of said vehicle with respect to said swath area.

4. The navigation system according to claim 3, which includes:

said heading display having a centerline representation adapted for illumination in response to an on-course output signal from said controller.

5. The navigation system according to claim 1, which includes:

a previous coverage area detector adapted for detecting the presence of the vehicle in a previously-covered area and outputting a signal indicating same.

6. The navigation system according to claim 5, which includes:

said previous coverage area detector activating in response to an approach angle of said vehicle to a previous coverage area.

7. The navigation system according to claim 6, which includes:

a pair of previous coverage area indicator lights each located at a respective side of the heading display and being adapted for illumination in response to said vehicle entering a previous coverage area.

8. The navigation system according to claim 1, which includes:

a crosstrack error display with right and left sides associated with the right and left sides of said vehicle respectively; and

said crosstrack error display sides being selectively illuminated in proportion to a displacement of a current vehicle swath from a previous, adjacent vehicle swath.

9. A navigation system for swathing applications defined by the swath edges of areas previously covered and performed by a vehicle with a user-entered swath width, which system comprises:

a guidance controller including memory adapted for storing positional data corresponding to an area of swath coverage by said vehicle;

a position detector for detecting a current position of said vehicle relative to said swath coverage area, said position detector outputting positional data as input to said guidance controller;

said guidance controller scanning its memory of stored positional data and generating a subset thereof, said subset comprising positional data relatively close to the current vehicle position;

said guidance controller being adapted to compute positions for a pair of look-ahead points relative to swath edges based on said subset data;

said guidance controller providing output for placing the current vehicle swath coverage adjacent a previous swath coverage area;

an automatic steering assistance mechanism mounted on said vehicle and connected a steering system thereof, and

said guidance controller being connected to said automatic steering mechanism and controlling same.

10. The navigation system according to claim 9, which includes:

said guidance controller prioritizing computing said look-ahead points over updating said memory of stored positional data.

11. The navigation system according to claim 10 wherein said guidance controller updates said subset data to accommodate movement of said vehicle whereby the current vehicle position is maintained within areas represented by said subset data.

12. The navigation system according to claim 11 wherein said guidance controller prioritizes updating said subset data over updating said memory of stored positional data.

13. The navigation system according to claim 9 wherein said guidance controller output is based on a positional error and a heading error to a point of closest approach on the previous swath coverage area.

14. The navigation system according to claim 9 wherein said automatic steering assistance mechanism includes a gyroscope adapted for maintaining a course of said vehicle in cooperation with said positional data output by said position detector.

15. The navigation system according to claim 14 wherein said gyroscope is connected to a feedback circuit providing correctional signals to said guidance controller.

16. The navigation system according to claim 15 wherein said guidance controller uses GPS data for guidance with correction by said gyroscope.

17. The navigation system according to claim 9, which includes:

said vehicle having an hydraulic steering system; and

said automatic steering assistance mechanism including an hydraulic valve mechanism connected to said hydraulic steering system and adapted for applying hydraulic pressure for biasing said steering in a respective direction in response to steering signals from said guidance controller.

18. The navigation system according to claim 17, which includes:

said hydraulic valve mechanism comprising a pair of hydraulic valves each having open and closed positions and each associated with a respective steering direction; and

said automatic steering assistance mechanism selectively opening one of said valves to bias said steering piston-and-cylinder unit in a respective direction.

19. The navigation system according to claim 9, which includes:

said guidance controller being adapted to compute and output signals corresponding to a crosstrack error of said current vehicle position with respect to a previous swath; and

a display subsystem connected to said guidance controller and including a lightbar with opposite sides each adapted for proportional illumination representing a right or left condition and a magnitude of said crosstrack error.

20. The navigation system according to claim 9, which includes:

said guidance controller being adapted to compute and output signals corresponding to relative headings of said vehicle from its current position towards said swath area;

a display subsystem connected to said guidance controller and receiving said heading output signals therefrom;

said display subsystem including a heading display with an arcuate or linear directional representation adapted to display a relative heading of said vehicle with respect to said swath area.

21. The navigation system according to claim 20 wherein said heading display includes opposite sides corresponding to the right and left sides of the vehicle and each said heading display side is adapted for proportional illumination corresponding to a steering angle towards the edge of a previous swath.

22. The navigation system according claim 9, which includes an area measurement system adapted for identifying a perimeter start point, logging positional data around the perimeter of an area to be measured, detecting proximity to the start point, closing the perimeter, calculating the area and outputting same.

23. A vehicle navigation system for swathing applications, which system comprises:

a controller including memory adapted for storing positional data corresponding to an area of swath coverage by said vehicle;

a position detector for detecting a current position of said vehicle relative to said swath coverage area, said position detector outputting positional data as input to said controller;

said controller being adapted to compute and output signals corresponding to relative headings of said vehicle from its current position towards said swath area;

a display subsystem connected to said controller and receiving said heading output signals therefrom;

said display subsystem including a heading display with an arcuate or linear directional representation adapted to display a relative heading of said vehicle with respect to said swath area;

an automatic steering assistance mechanism mounted on said vehicle and connected to a steering system thereof; and

said guidance controller being connected to said automatic steering mechanism and controlling same.