Patent ID: 7689354
Filing Date: 2010-03-30
Classification: A01B,G05D

Abstract:
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.