Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Automatic route guidance vehicle
Reexamination Certificate
1999-03-26
2001-03-20
Louis-Jacques, Jacques H. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Automatic route guidance vehicle
C701S023000, C701S025000, C701S026000, C701S050000, C701S200000, C701S201000, C340S994000, C340S995190, C340S988000, C342S357490, C342S457000
Reexamination Certificate
active
06205381
ABSTRACT:
TECHNICAL FIELD
This invention relates generally to a method and apparatus for providing autoguidance for a plurality of agricultural machines in a field and, more particularly, to a method and apparatus for defining and communicating path parameters between a first agricultural machine and a remaining plurality of agricultural machines.
BACKGROUND ART
Agricultural operations often require long, tedious hours driving over fields with agricultural machines pulling or carrying work implements, taking care to cover all desired areas efficiently, yet taking special care not to damage the crop.
With the advent of modern technologies, such as GPS positioning systems and modern control systems, advances are being made toward the autoguidance of the agricultural machines, thus helping relieve human operators from the work and fatigue of a long day in the fields.
However, many agricultural operations use multiple machines in the fields to get the work done. Even with autoguidance systems, the multiple machines must communicate and coordinate with each other to avoid conflicts, overlap, and wasted time and effort. Furthermore, the preliminary tasks of a typical autoguidance system, e.g., path planning and route determination, would be more efficiently performed if accomplished by one machine and communicated and coordinated with the remaining machines.
The present invention is directed to overcoming one or more of the problems as set forth above.
DISCLOSURE OF THE INVENTION
In one aspect of the present invention a method for providing autoguidance for a plurality of agricultural machines is disclosed. Each agricultural machine has a work implement attached. The method includes the steps of determining a reference path by a first agricultural machine, communicating the location of the reference path to each remaining agricultural machine, and determining a plurality of desired paths parallel to the reference path by each of the plurality of agricultural machines. Each plurality of desired paths is determined as a function of the width of the corresponding work implement for each respective agricultural machine.
In another aspect of the present invention an apparatus for providing autoguidance for a plurality of agricultural machines is disclosed. Each agricultural machine has a work implement attached. The apparatus includes a position determining system located on each agricultural machine, a swath manager located on each agricultural machine, and means for communicating between each agricultural machine. The apparatus also includes a processor located on each agricultural machine. The processor located on a first machine is adapted to determine a reference path, and communicate the location of the reference path to each remaining agricultural machine. The processor located on each agricultural machine is adapted to determine a plurality of desired paths parallel to the reference path. Each plurality of desired paths is determined as a function of the width of the corresponding work implement for each respective agricultural machine.
In yet another aspect of the present invention an apparatus for providing autoguidance for a plurality of agricultural machines is disclosed. Each agricultural machine has a work implement attached. The apparatus includes means for determining a reference path by a first agricultural machine, means for communicating the location of the reference path to each remaining agricultural machine, and means for determining a plurality of desired paths parallel to the reference path by each of the plurality of agricultural machines. Each plurality of desired paths is determined as a function of the width of the corresponding work implement for each respective agricultural machine.
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Trimble AgGPS Parallel Swathing Option Web Site: www.trimble.com/products/catalog/agri/agpso.htm.
Motz Darin S.
Plumer Elliott E.
Staub Michael D.
Caterpillar Inc.
Louis-Jacques Jacques H.
Lundquist Steve D.
Mancho Ronnie
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