System and method for automatically generating vehicle guidance waypoints and waylines

Abstract

A guidance system for a mobile machine includes a location determining device for determining a location of the machine, a user interface and a controller. The controller is configured to receive location information from the location determining device, detect a path followed by the machine using the location information and, as the machine travels the path, receive waypoint information from a user via the user interface indicating a plurality of initial waypoints associated with the path. The controller is further configured to present the initial waypoints to the user, receive selected waypoint information from the user via the user interface indicating one or more of the initial waypoints as selected waypoints, and automatically guide the machine using the one or more selected waypoints.

1 . A guidance system for a mobile machine, the system comprising:
 a location determining device for determining a location of the machine;   a user interface; and   a controller configured to—
 receive location information from the location determining device, 
 detect a path followed by the machine using the location information, 
 as the machine travels the path, receive waypoint information from a user via the user interface indicating a plurality of initial waypoints associated with the path, 
 present the initial waypoints to the user, 
 receive selected waypoint information from the user via the user interface indicating one or more of the initial waypoints as selected waypoints, and 
 automatically guide the machine using the one or more selected waypoints. 
   
     
     
         2 . The guidance system as set forth in  claim 1 , the controller configured to generate a visual representation of the path on the user interface as the machine travels the path. 
     
     
         3 . The guidance system as set forth in  claim 2 , the controller configured to present the initial waypoints to the user as points on the visual representation of the path. 
     
     
         4 . The guidance system as set forth in  claim 2 , the user interface including a touchscreen and configured to receive the waypoint information from the user as a touch detectable by the touchscreen. 
     
     
         5 . The guidance system as set forth in  claim 1 , the controller further configured to adjust the initial waypoints in response to user instructions received via the user interface by adjusting the positions of the initial waypoints. 
     
     
         6 . The guidance system as set forth in  claim 5 , the controller further configured to adjust the positions of the initial waypoints in response to the user instructions prior to receiving the selected waypoint information. 
     
     
         7 . The guidance system as set forth in  claim 1 , the controller further configured to allow the user to adjust a selected waypoint by changing a location of the waypoint. 
     
     
         8 . The guidance system as set forth in  claim 1 , the controller configured to automatically guide the machine according to the one or more selected waypoints by generating a wayline corresponding to at least one selected waypoint and guiding the machine along paths that are parallel with the wayline. 
     
     
         9 . The guidance system as set forth in  claim 8 , the controller configured to adjust a position of the wayline in response to user instructions received via the user interface. 
     
     
         10 . The guidance system as set forth in  claim 9 , the controller configured to adjust the position of the wayline by rotating the wayline about a point on the wayline. 
     
     
         11 . The guidance system as set forth in  claim 8 , the controller further configured to—
 receive additional waypoint information from the user as the machine travels the wayline, the additional waypoint information indicating the position of a secondary waypoint associated with the wayline, 
 generate a second wayline using the secondary waypoint, and 
 automatically guide the machine using the secondary waypoint. 
 
     
     
         12 . The guidance system as set forth in  claim 11 , the controller further configured to automatically guide the machine using the secondary waypoint by generating a second wayline corresponding to the secondary waypoint. 
     
     
         13 . The guidance system as set forth in  claim 12 , the controller further configured to adjust the second wayline in response to user instructions received via the user interface. 
     
     
         14 . The guidance system as set forth in  claim 1 , each of the initial waypoints corresponding to a location of the machine on the path at the time the waypoint information was received from the user. 
     
     
         15 . A guidance system for a mobile machine, the system comprising:
 a location determining device for determining a location of the machine;   a user interface; and   a controller configured to—
 receive location information from the location determining device, 
 detect a path followed by the machine using the location information, 
 as the machine travels the path, receive waypoint information from a user via the user interface indicating a plurality of waypoints on the path, 
 present the waypoint information to the user indicating the plurality of waypoints, 
 receive selected waypoint information from the user via the user interface indicating one or more of the waypoints as selected waypoints, 
 generate a wayline using the one or more selected waypoints, and 
 automatically guide the machine using the wayline. 
   
     
     
         16 . The guidance system as set forth in  claim 15 , the controller configured to—
 generate a suggested wayline using the one or more selected waypoints such that the wayline intersects the one or more selected waypoints, 
 allow the user to adjust the suggested wayline, and 
 automatically guide the machine using the adjusted wayline. 
 
     
     
         17 . The guidance system as set forth in  claim 15 , the controller configured to adjust the suggested wayline in response to user instructions received via the user interface by selecting one of the waypoints as a point of intersection of the wayline. 
     
     
         18 . The guidance system as set forth in  claim 15 , the controller configured to allow the user to adjust the suggested wayline by adjusting an angle of the wayline. 
     
     
         19 . The guidance system as set forth in  claim 15 , the controller configured to—
 generate a suggested wayline using the one or more selected waypoints such that the wayline intersects one waypoint and is parallel with a predetermined direction, 
 allow the user to adjust the suggested wayline, and 
 automatically guide the machine using the adjusted wayline.