System and method for interactive selection of agricultural vehicle guide paths through a graphical user interface other than moving the vehicle

• US 7,256,388 B2
• Filed: 02/04/2005
• Issued: 08/14/2007
• Est. Priority Date: 02/04/2005
• Status: Active Grant

• Current Assignee: Novariant Incorporated (Kubota Corporation)
• Original Assignee: Novariant Incorporated (Kubota Corporation)
• Inventors: O'Connor, Michael L., Sapilewski, Glen A., Leckie, Lars G., Eglington, Michael
• Primary Examiner(s): LE, QUE TAN
• Application Number:
  US11/051,507
• Publication Number:
  US 20060175541A1
• Time in Patent Office: 921 Days
• Field of Search: 250/221, 250/559.29, 250/559.33, 701209-211, 701/25, 701/50, 340990-993
• US Class Current: 250/221
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.

Claims

1. A method for guiding a vehicle along a series of paths, comprising the steps of:

a. receiving and storing position information about the vehicle as it traverses a first path;

b. calculating one or more proposed subsequent paths based on the stored position information from the first path;

c. receiving and storing position information about the vehicle as it traverses the second path;

d. calculating one or more proposed subsequent third paths based on the stored position information from the first and/or second path;

e. displaying the proposed subsequent path; and

f. receiving user input through a user interface independent of vehicle operation that allows the user to refuse the proposed subsequent path.

2. The method of claim 1, further comprising the steps of:

a. calculating an alternative path in response to the refusal, and

b. displaying the alternative path to the user for selection.

3. The method as claimed in claim 1 wherein the positional information is provided with centimeter-level accuracy.

4. The method as claimed in claim 1 wherein the positional information is from a Real-time Kinematic Global Positioning Satellite system.

5. The method as claimed in claim 1, wherein the step of calculating involves creating piecewise offsets from the first path at multiple locations along the first path, which locations have one of varying spacing or even spacing.

6. The method as claimed in claim 1 wherein two or more alternative subsequent paths are calculated and displayed to the user.

7. The method as claimed in claim 1 wherein user selection of one of at least two displayed alternative paths acts as a refusal of the other paths.

8. The method as claimed in claim 1 further including the step of automatically steering the vehicle along the calculated and selected paths until the area is covered.

9. The method as claimed in claim 1 further including the step of manually steering the vehicle along the displayed calculated and selected paths until the area is covered.

10. A system for guiding a vehicle along a series of paths, comprising:

a. a receiver for receiving from a navigation system positional information about the position of the vehicle as it travels a path;

b. a processor that calculates a proposed subsequent path based on the positional information;

c. a display for showing the proposed subsequent path; and

d. a user input device, independent of moving the vehicle, which receives user input allowing the user to refuse the proposed subsequent path.

11. The system as claimed in claim 10 wherein the navigation system provides the positional information with centimeter-level accuracy.

12. The system as claimed in claim 10 wherein the processor calculates the proposed subsequent path by creating piecewise offsets from the first path at multiple locations along the first path, which locations have one of varying spacing or even spacing.

13. The system as claimed in claim 10 wherein the processor calculates two or more alternative subsequent paths and the display displays them to the user.

14. The system as claimed in claim 10 further comprising means to store, and to allow the user to repeat, a set of paths traversed by the user.

15. The system as claimed in claim 10 further including an automatic steering device which automatically guides the vehicle along the calculated and selected paths until the area is covered.

16. A system for guiding a vehicle along a series of paths, comprising:

a. a portion of a navigational system located on the vehicle for providing positional information about the location of the vehicle as it traverses a first path of varying curvature;

b. a processor for calculating proposed subsequent paths of varying curvature based on the positional information, including possible alternative paths;

c. a display for displaying the proposed subsequent paths; and

d. a graphical user interface integrated into the display and through which a user may select at least one of the possible alternative paths.

17. The system as claimed in claim 16 wherein the navigational system provides centimeter level positional accuracy.

18. The system as claimed in claim 16 wherein the navigational system is a Real-time Kinematic Global Positioning Satellite system.

19. The system as claimed in claim 16 wherein the processor calculates proposed subsequent paths using piecewise perpendicular offsets from multiple locations along a previous curve, which locations have one of varying spacing or even spacing.

20. The system in claim 16 further comprising means for recording a plurality of paths traversed by the vehicle.

21. The system of claim 20 further comprising means for re-displaying the recorded plurality of paths for guiding the vehicle over the same plurality of paths.

22. The system as claimed in claim 16 wherein said processor plots subsequent paths as the vehicle traverses the prior path until the area is covered.

23. The system as claimed in claim 16 further including a steering mechanism receiving information about the paths from the processor and automatically steering the vehicle along the subsequent paths until the area is covered.