Enhanced automated steering system for a vehicle

A liquid applicator implement incorporating an automated steering system for steering the liquid applicator implement as it advances in a forward direction of travel through a field having laterally spaced row crops, the liquid applicator implement comprising:

• (a) a plurality of drop assemblies supported by and spaced laterally along a boom structure, the boom structure disposed at a height above a soil surface and extending laterally in a direction transverse to the forward direction of travel, whereby each of the plurality of drop assemblies is positioned between two of the laterally spaced crop rows, each of the plurality of drop assemblies comprising:
• (i) a riser extending downwardly from the boom structure toward the soil surface between the two laterally spaced crop rows;
• (ii) a base unit supported at a lower portion of the riser, the base unit diverging laterally outward from a forward end toward a rearward end, the forward end oriented toward the forward direction of travel, the rearward end extending rearward from the forward end, the rearward end having a lateral width greater than a lateral width of the forward end;
• (iii) a pair of dribble hoses extending from the rearward end of the base unit, the dribble hoses delivering liquid product from a liquid product source onto the soil surface proximately adjacent to a respective one of the two laterally spaced crop rows;
• (b) a navigation controller;
• (c) a steering control system responsive to said navigation controller;
• (d) a Global Positioning System (GPS) receiver generating signals indicative of the liquid applicator implement's latitude and longitude position and heading as the liquid applicator implement advances in the forward direction of travel;
• (e) a correction system including a controller and an alignment sensor, said controller in signal communication with said GPS receiver, said alignment sensor and said navigation controller;
• wherein said alignment sensor is operably supported by the liquid applicator implement, said alignment sensor comprising:
• (i) a support rod having a lower end extending downwardly from the liquid applicator implement toward the soil surface and between two of the laterally spaced crop rows;
• (ii) a breakaway mounting assembly pivotally securing an upper end of the support rod to the liquid applicator implement, the breakaway mounting assembly including:
• a stationary bracket attached to the liquid applicator implement, the stationary bracket having an upper end and a lower end extending downwardly from the upper end toward the soil surface;
• a pivoting bracket having an upper end pivotally attached toward the upper end of the stationary bracket about a horizontal pivot axis oriented transverse to the forward direction of travel of the liquid applicator implement, the support rod secured to and supported by the pivoting bracket;
• a magnet disposed between the lower end of the stationary bracket and a lower end of the pivoting bracket, the magnet having a magnetic force sufficient to maintain the lower end of the pivoting bracket in a normal operating position in which the lower end of the pivoting bracket is in magnetic engagement with the lower end of the stationary bracket until the lower end of the support rod encounters an obstruction that exerts a force sufficient to overcome the magnetic force, whereupon the pivoting bracket pivots rearwardly about the horizontal pivot axis to a breakaway position in which the lower end of the pivoting bracket is out of magnetic engagement with the lower end of the stationary bracket until the obstruction is passed, whereupon the pivoting bracket pivots forwardly about the horizontal pivot axis and returns to the normal operating position;
• (iii) a sensor housing supported at the lower end of the support rod, the sensor housing diverging laterally outward from a forward end toward a rearward end, the forward end oriented toward the forward direction of travel, the rearward end extending rearward from the forward end, the rearward end having a lateral width greater than a lateral width of the forward end;
• (iv) a first wand pivotally supported at a proximal end at the rearward end of the housing, a distal end of the first wand extending laterally outwardly from the housing a distance to engage a first one of the two laterally spaced crop rows;
• (v) a second wand pivotally supported at a proximal end at the rearward end of the housing, a distal end of the second wand extending laterally outwardly from the housing a distance to engage a second one of the two laterally spaced crop rows;
• (vi) a first position sensor including a first Hall-effect sensor and a first magnet, the first Hall-effect sensor supported by the housing and the first magnet carried by the pivotal first wand, the first position sensor generating a first output signal indicative of a degree of rotation of the first wand with respect to the housing as the liquid applicator implement advances in the forward direction of travel;
• and
• (vii) a second position sensor including a second Hall-effect sensor and a second magnet, the second Hall-effect sensor supported by the housing and the second magnet carried by the pivotal second wand, the second position sensor generating a second output signal indicative of a degree of rotation of the second wand with respect to the housing as the liquid applicator implement advances in the forward direction of travel;
• and
• wherein said controller receives said generated first and second output signals from said first and second position sensors and determines an offset distance of said alignment sensor from a centerline between the two laterally spaced crop rows;
• wherein said controller outputs a modified position signal corresponding to said latitude and longitude position received from said GPS receiver shifted by said offset distance;
• wherein said navigation controller causes said steering control system to steer the liquid applicator implement based on said modified position signal.