Patent ID: 7715966
Filing Date: 2010-05-11
Classification: A01B,G05D

Abstract:
1. A method for generating a spiral swath pattern to be driven by a work vehicle over a convex polygon shaped region of a field, the method comprising the steps of: determining a minimum turning radius, such that the minimum turning radius defines the minimum radius of curvature of the swath pattern; defining a swath width as a function of a lateral extent of the work vehicle or an implement of the work vehicle; defining a boundary for the region including first through nth line segments having headings in a direction of rotation and intersecting at first through nth corners defined by first through nth angles; defining first through nth bases, wherein the second through nth bases are located at the second through nth corners, respectively, and the first base is located at a transition corner defined by an intersection of the nth line segment and a transition line parallel to the first line segment and spaced toward the interior of the region by one swath width; defining first through nth bisectors having headings toward the interior of the region at the first through nth bases, respectively, such that the first through nth bisectors bisect the transition angle and the second through nth angles, respectively; generating the spiral swath pattern as a series of concentric swath lines to be driven by the work vehicle in the direction of rotation, each one of the swath lines including first through nth linear portions spaced apart at the swath width and corresponding to the first through nth line segments, respectively, and first through nth curved portions defined along a circle having a radius greater than or equal to the minimum turning radius tangent to consecutive linear portions and centered along the first through nth bisectors, respectively, the swath lines generated as a function of at least some of: a) the boundary of the region; b) the minimum turning radius; c) the first through nth bisectors; and d) the swath width.