Method and system for planning the path of an agricultural vehicle

• US 20090118904A1
• Filed: 02/27/2006
• Published: 05/07/2009
• Est. Priority Date: 02/27/2006
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Birnie, Denis Allan
• Granted Patent: US 10,378,896 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: A01B 69/008 automatic
• 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 1/0278 using satellite positioning signals, e.g. GPS

Abstract

Embodiments of the present invention pertain to methods and systems for planning the path of an agricultural vehicle. In one embodiment, a first point of a first planned path and a second point of a second planned path are determined. A path plan is then automatically generated connecting the first point and the second point.

Claims

1. A method for planning a path for an agricultural vehicle, said method comprising:

determining a first point of a first planned path;

determining a second point of a second planned path; and

automatically generating a path plan connecting said first point and said second point.

2. The method as recited in claim 1 further comprising:

assigning a sequence to said first planned path and said second planned path; and

selecting a shape for said path plan.

3. The method as recited in claim 2 wherein said automatically generating a path plan comprises selecting a path plan shape from the group consisting essentially of a semi-circle and a keyhole.

4. The method as recited in claim 1 further comprising:

determining a first geographic position of said first point and a second geographic position of said second point using a position determining system.

5. The method as recited in claim 4 further comprising:

utilizing a position determining system selected from the group consisting essentially of the Global Positioning System (GPS), the Global Navigation Satellite System (GNSS), and a terrestrial-based position determining system.

6. The method as recited in claim 4 further comprising:

displaying a deviation from said path plan on a display device.

7. The method as recited in claim 4 further comprising:

generating a steering command which causes said agricultural vehicle to follow said path plan.

8. A system for planning a path for an agricultural vehicle, said system comprising:

a guidance system for generating a path plan connecting a first point of a first planned path and a second point of a second path; and

a position determining system coupled with said guidance system, said position determining system for determining the geographic position of said agricultural vehicle.

9. The system of claim 8 wherein said guidance system is further for assigning a sequence to said first path and said second path and for selecting a shape for said path plan.

10. The system of claim 11 wherein said guidance system selects a path plan shape from the group consisting essentially of a semi-circle and a keyhole.

11. The system of claim 8 wherein said position determining system is for determining a first geographic position of said first point and a second geographic position of said second point.

12. The system of claim 8 wherein said position determining system is selected from the group consisting essentially of the Global Positioning System (GPS), the Global Navigation Satellite System (GNSS), and a terrestrial-based position determining system.

13. The system of claim 8 wherein said guidance system further comprises:

a steering controller for generating a steering command which causes said agricultural vehicle to follow said path plan.

14. The system of claim 8 further comprising:

a display device coupled with said guidance system for displaying a deviation of said agricultural vehicle from said path plan.

15. A control component for an agricultural vehicle, said control component comprising

an accessor for accessing a first planned path and a second planned path;

in input from a position determining system for determining a first geographic position corresponding to a point of said first planned path and a second geographic position corresponding to a point of said second planned path; and

a path plan generator for generating a path plan connecting said first geographic position and a second geographic position.

16. The control component of claim 15 wherein said path plan generator is further for assigning a sequence to said first path and said second path and for selecting a shape for said path plan.

17. The control component of claim 16 wherein said plan generator selects a path plan shape from the group consisting essentially of a semi-circle and a keyhole.

18. The control component of claim 15 an output to a display device for displaying a deviation of said agricultural vehicle from said path plan.

19. The control component of claim 15 wherein said position determining system is selected from the group consisting essentially of the Global Positioning System (GPS), the Global Navigation Satellite System (GNSS), and a terrestrial-based position determining system.

20. The control component of 15 further comprising:

an output to a steering controller, said steering controller for generating a steering command which causes said agricultural vehicle to follow said path plan.