Form line following guidance system
DCFirst Claim
1. A method of form line following, comprising the steps of:
- defining a first form line using two or more terrestrial locations;
defining a second form line using positioning data derived from GPS data and a swathing offset; and
updating said second form line according to one or more deviations from said second form line by following said second form line defined by said positioning data and said swathing offset, deviating from said second form line to accommodate one or more terrain features, collecting new GPS data during said steps of following and deviating and computing one or more positions therefrom, and defining an updated second form line using said positions.
4 Assignments
Litigations
0 Petitions
Reexamination
Accused Products
Abstract
A first form line is defined using two or more terrestrial locations. The first form line may be predefined or may be defined by user during a spraying operation. A second form line is then computed using positioning data obtained while following the first form line and a swathing offset corresponding to the width of a spray pattern. The second form line is updated according to one or more deviations from the computed path. The deviations may correspond to operator inputted corrections which allow for obstacle avoidance, etc. The updating generally occurs by following the second form line as defined by the positioning data and the swathing offset and then deviating from the second form line to accommodate one or more terrain features. New GPS data is collected during these steps of following and deviating from the second form line and new positions are computed from the new GPS data. Finally, the updated second form line is defined using the new positions computed from the new GPS data. A further form line may then be defined using the updated second form line information and the swathing offset. A form line following apparatus may include a vehicle fitted with a GPS receiver configured to receive GPS data and GPS correction information and to compute form line following information therefrom. The form line following apparatus may also include a display device configured to receive and display the form line following information.
258 Citations
12 Claims
-
1. A method of form line following, comprising the steps of:
-
defining a first form line using two or more terrestrial locations; defining a second form line using positioning data derived from GPS data and a swathing offset; and updating said second form line according to one or more deviations from said second form line by following said second form line defined by said positioning data and said swathing offset, deviating from said second form line to accommodate one or more terrain features, collecting new GPS data during said steps of following and deviating and computing one or more positions therefrom, and defining an updated second form line using said positions. - View Dependent Claims (2)
-
-
3. A form line following apparatus, comprising
a vehicle fitted with a GPS receiver configured to receive GPS data and GPS correction information and to compute position information therefrom; - and
a processor configured to define an updated form line according to position information computed while the vehicle was (a) following a previously computed form line having been defined using positioning data derived from earlier received GPS data and a swathing offset, and (b) deviating from the previously computed form line to accommodate one or more terrain features. - View Dependent Claims (4, 5)
- and
-
6. A method of form line following, comprising
controlling a vehicle so as to follow a form line computed using positioning information provided by one or more sources of GPS information while the vehicle was (a) following a previously computed form line having been defined using earlier positioning information and a swathing offset, and (b) deviating from the previously computed form line to accommodate one or more terrain features encountered while following the previously computed form line.
-
11. A method comprising
operating a spraying apparatus along a form line so as to apply chemicals to a portion of a field, the form line having been defined according to positions computed while (a) following a previously computed form line having been defined using previously derived positioning information and a swathing offset, and (b) making deviations from the previously computed form line to account for one or more terrain features encountered while operating said spraying apparatus along the previously computed form line.
Specification