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US5987383A
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Form line following guidance system
Assignee: Trimble Inc
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Filing: 1997-04-28
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Granted: 1999-11-16
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Expires: 2017-04-28
Abstract
Abstract A first form line is defined using two or more terrestrial locations. The first form line may be predefined or may be defined by user during a spraying operation. A second form line is then computed using positioning data obtained while following the first form line and a swathing offset corresponding to the width of a spray pattern. The second form line is updated according to one or more deviations from the computed path. The deviations may correspond to operator inputted corrections which allow for obstacle avoidance, etc. The updating generally occurs by following the second form line as defined by the positioning data and the swathing offset and then deviating from the second form line to accommodate one or more terrain features. New GPS data is collected during these steps of following and deviating from the second form line and new positions are computed from the new GPS data. Finally, the updated second form line is defined using the new positions computed from the new GPS data. A further form line may then be defined using the updated second form line information and the swathing offset. A form line following apparatus may include a vehicle fitted with a GPS receiver configured to receive GPS data and GPS correction information and to compute form line following information therefrom. The form line following apparatus may also include a display device configured to receive and display the form line following information.
Inventors
- 👤 Russell J. Keller
- 👤 Robert W. Petrie
- 👤 Gregory R. Price
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 18:34
CPC Classifications
A; A01; A01B; A01B69/00; A01B69/007; A01B79/00; A01B79/005; G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0212; G05D1/0219; G05D1/0276; G05D1/0278
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
110 words
A method of form line following, comprising the steps of: defining a first form line using two or more terrestrial locations; defining a second form line using positioning data derived from GPS data and a swathing offset; and updating said second form line according to one or more deviations from said second form line by following said second form line defined by said positioning data and said swathing offset, deviating from said second form line to accommodate one or more terrain features, collecting new GPS data during said steps of following and deviating and computing one or more positions therefrom, and defining an updated second form line using said positions.
Claim 2
Independent Claim
110 words
A method of form line following, comprising the steps of: defining a first form line using two or more terrestrial locations; defining a second form line using positioning data derived from GPS data and a swathing offset; and updating said second form line according to one or more deviations from said second form line by following said second form line defined by said positioning data and said swathing offset, deviating from said second form line to accommodate one or more terrain features, collecting new GPS data during said steps of following and deviating and computing one or more positions therefrom, and defining an updated second form line using said positions.
Claim 3
Dependent Claim
23 words
A method as in claim 1 further comprising the step of defining a third form line using said positions and said swathing offset.
Claim 4
Dependent Claim
86 words
A form line following apparatus, comprising a vehicle fitted with a GPS receiver configured to receive GPS data and GPS correction information and to compute position information therefrom; and a processor configured to define an updated form line according to position information computed while the vehicle was (a) following a previously computed form line having been defined using positioning data derived from earlier received GPS data and a swathing offset, and (b) deviating from the previously computed form line to accommodate one or more terrain features.
Claim 5
Dependent Claim
86 words
A form line following apparatus, comprising a vehicle fitted with a GPS receiver configured to receive GPS data and GPS correction information and to compute position information therefrom; and a processor configured to define an updated form line according to position information computed while the vehicle was (a) following a previously computed form line having been defined using positioning data derived from earlier received GPS data and a swathing offset, and (b) deviating from the previously computed form line to accommodate one or more terrain features.
Claim 6
Dependent Claim
29 words
A form line following apparatus as in claim 3 further comprising a display device configured to receive and display form line following information corresponding to the updated form line.
Claim 7
Dependent Claim
44 words
A form line following apparatus as in claim 4 wherein said vehicle is further configured with an automatic steering apparatus configured to accept steering inputs according to said form line following information and to provide steering outputs to control said vehicle in accordance therewith.
Claim 8
Independent Claim
76 words
A method of form line following, comprising controlling a vehicle so as to follow a form line computed using positioning information provided by one or more sources of GPS information while the vehicle was (a) following a previously computed form line having been defined using earlier positioning information and a swathing offset, and (b) deviating from the previously computed form line to accommodate one or more terrain features encountered while following the previously computed form line.
Claim 9
Independent Claim
76 words
A method of form line following, comprising controlling a vehicle so as to follow a form line computed using positioning information provided by one or more sources of GPS information while the vehicle was (a) following a previously computed form line having been defined using earlier positioning information and a swathing offset, and (b) deviating from the previously computed form line to accommodate one or more terrain features encountered while following the previously computed form line.
Claim 10
Dependent Claim
18 words
A method as in claim 6 wherein said positioning information is provided by one or more GPS satellites.
Claim 11
Dependent Claim
17 words
A method as in claim 6 wherein said positioning information is provided by one or more pseudolites.
Claim 12
Dependent Claim
20 words
A method as in claim 6 wherein said positioning information is provided by a GPS receiver housed within said vehicle.
Claim 13
Dependent Claim
21 words
A method as in claim 6 wherein said positioning information is provided by a GPS receiver located remote from said vehicle.
Claim 14
Independent Claim
82 words
A method comprising operating a spraying apparatus along a form line so as to apply chemicals to a portion of a field, the form line having been defined according to positions computed while (a) following a previously computed form line having been defined using previously derived positioning information and a swathing offset, and (b) making deviations from the previously computed form line to account for one or more terrain features encountered while operating said spraying apparatus along the previously computed form line.
Claim 15
Independent Claim
82 words
A method comprising operating a spraying apparatus along a form line so as to apply chemicals to a portion of a field, the form line having been defined according to positions computed while (a) following a previously computed form line having been defined using previously derived positioning information and a swathing offset, and (b) making deviations from the previously computed form line to account for one or more terrain features encountered while operating said spraying apparatus along the previously computed form line.
Claim 16
Dependent Claim
60 words
A method as in claim 11 wherein the deviations are accounted for by applying chemicals only to a selected area of the field while operating along the form line, the selected area configured so as not to encroach upon other portions of the field upon which chemicals were applied while operating the spraying apparatus along the previously computed form line.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-11-15 | 2003-05-17 | 2003-11-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-11-15 | 2007-05-17 | 2007-11-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-11-15 | 2011-05-17 | 2011-11-16 | $7700.00 | Window Closed / Lapsed |