Adaptive guidance system and method

• US 7,689,354 B2
• Filed: 07/19/2005
• Issued: 03/30/2010
• Est. Priority Date: 03/20/2003
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Hemisphere GPS LLC (Kubota Corporation)
• Inventors: McClure, John A., Heiniger, Richard W.
• Primary Examiner(s): Hellner; Mark
• Assistant Examiner(s): Algahaim; Helal A
• Application Number:
  US11/184,657
• Publication Number:
  US 20070021913A1
• Time in Patent Office: 1,715 Days
• Field of Search: 701/50, 701/213
• US Class Current: 701/213
• 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

An adaptive guidance system for a vehicle includes an on-board GPS receiver, an on-board processor adapted to store a preplanned guide pattern and a guidance device. The processor includes a comparison function for comparing the vehicle GPS position with a line segment of the preplanned guide pattern. The processor controls the guidance device for guiding the vehicle along the line segment. Various guide pattern modification functions are programmed into the processor, including best-fit polynomial correction, spline correction, turn-flattening to accommodate minimum vehicle turning radii and automatic end-of-swath keyhole turning.

Claims

1. An adaptive guidance method for a vehicle, which method comprises the steps of:

equipping the vehicle with a GPS receiver;

equipping the vehicle with a processor connected to the GPS receiver;

inputting a preplanned guide pattern including multiple guide line segments into said processor;

adapting said guide pattern according to a predetermined operating criterium;

operating said vehicle along said guide pattern;

receiving with said receiver GPS signals comprising data points corresponding to GPS positions of said vehicle;

comparing said received GPS data points with said preplanned guide pattern; and

outputting guidance information or signals;

providing said processor with a best-fit function utilizing said criterium;

adapting said guide pattern by applying said best-fit function to GPS data points for generating a best-fit guide line segment;

guiding said vehicle along said best-fit guide line segment; and

adapting said guide pattern to accommodate one or more guide path irregularities from among the group consisting of;

crosstrack error, coverage gap, coverage overlap, terrain irregularities, irregular field boundaries and minimum turning radius;

generating a first set of parallel guide line segments corresponding to a first irregular field boundary;

generating a second set of parallel guide line segments corresponding to a second irregular field boundary; and

combining and adapting said first and second sets of line segments to form said preplanned guide pattern;

providing said vehicle with a sprayer including a boom with multiple nozzles;

programming said controller with positioning information for said nozzles relative to said vehicle;

recording GPS data points corresponding to said nozzle locations during operation of said sprayer; and

selectively and independently activating and deactivating individual nozzles or groups of nozzles responsive to predetermined spray application criteria including avoiding overlapping spray coverage;

mounting said spray nozzles on a towed sprayer implement;

towing said sprayer in a forward travel direction;

turning said vehicle whereby a portion of said spray boom moves in a reverse travel direction; and

deactivating spray nozzles associated with said reverse-traveling portion of said spray boom.