# US 9,750,173 B2 · Device and method for guiding agricultural vehicles using modified swath width > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,750,173 B2 - Document ID: US9750173B2 - Status: Granted - Kind: B2 - Application number: 14/924,238 - Filed: 2015-10-27 - Published: 2017-04-27 - Granted: 2017-09-05 - Earliest claimed: 2015-10-27 - Assignees: CNH Industrial America LLC - Applicants: CNH Industrial America LLC - Inventors: Peter J. Dix; Brian R. Ray - Web page: https://patentgrep.com/patent/US9750173B2 ## CPC - A01B 69/008: {automatic} - A01B 79/005: {Precision agriculture} - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G05D 1/0219: {ensuring the processing of the whole working surface} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G01C 21/30: Map- or contour-matching - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A method for altering a swath path of a vehicle includes the steps of: loading a base swath path and an original swath width into a memory of the vehicle; generating a plurality of swath paths from the base swath path and the original swath width, each of the generated swath paths defining at least two geographic locations; measuring a current geographic location of the vehicle; determining a difference between the current geographic location and a geographic location of a swath path nearest to the current geographic location; determining a number of swath paths that the generated swath path nearest to the current geographic location is subsequent to the base swath path; dividing the difference by the determined number of swath paths to produce a swath width remark distance; and adding the swath width remark distance to the original swath width to produce a modified swath width. ## Claims ### Claim 1 A method for altering a swath pattern of a vehicle, comprising the steps of: loading a base swath path and an original swath width into a memory of said vehicle; generating a plurality of swath paths from said base swath path and said original swath width, each of said generated swath paths defining at least two geographic locations; measuring, using a location sensor, a current geographic location of said vehicle; determining, using an electrical processing circuit (EPC) coupled to said memory and to said location sensor, a difference between said current geographic location and a geographic location of a generated swath path nearest to said current geographic location; determining, using said EPC, a number of swath paths that said generated swath path nearest to said current geographic location is subsequent to said base swath path; dividing, using said EPC, said difference by said determined number of swath paths to produce a swath width remark distance; and adding, using said EPC, said swath width remark distance to said original swath width to produce a modified swath width; re-generating, using said EPC, at least one of said generated swath paths with said modified swath width in place of said original swath width; and controlling a steering direction of said vehicle based on said at least one re-generated swath path. ### Claim 2 (depends on 1) The method according to claim 1, further comprising the step of storing said swath width remark distance. ### Claim 3 (depends on 2) The method according to claim 2, wherein said swath width remark difference is stored in said memory. ### Claim 4 (depends on 3) The method according to claim 3, wherein said swath width remark distance is stored as at least one of a distance and a percentage. ### Claim 5 (depends on 1) The method according to claim 1, wherein said vehicle includes a display coupled to said EPC. ### Claim 6 (depends on 5) The method according to claim 5, further comprising the step of displaying said swath width remark distance on said display. ### Claim 7 (depends on 5) The method according to claim 5, wherein said vehicle includes a steering mechanism operable to control movement of said vehicle and an automatic steering system linked to said steering mechanism and operable to control said steering mechanism, said EPC being operable to control said automatic steering system. ### Claim 8 (depends on 1) The method according to claim 1, further comprising the step of modifying said determined swath width remark distance to produce a modified swath width remark distance, wherein said adding step and said re-generating step are performed using said modified swath width remark distance in place of said swath width remark distance. ### Claim 9 (depends on 8) The method according to claim 8, further comprising the steps of: producing a new modified swath width by adding said additional swath width remark distance to said original swath width; replacing said modified swath width with said new modified swath width; and re-generating at least one of said generated swath paths with said new modified swath width in place of said modified swath width. ### Claim 10 (depends on 1) The method according to claim 1, wherein said measuring, said determining, and said dividing steps are repeated to determine an additional swath width remark difference. ### Claim 11 An agricultural vehicle, comprising: a chassis; at least one farm implement carried by said chassis; a memory carried by said chassis, said memory having a base swath path and an original swath width programmed therein; a location sensor carried by said chassis and operable to measure a current geographic location; and an electronic processing circuit (EPC) carried by said chassis and coupled to said memory and said location sensor, said EPC being operable to: generate a plurality of swath paths from said base swath path and said original swath width, each of said generated swath paths defining at least two geographic locations; determine a difference between said current geographic location and a geographic location of a generated swath path nearest to said current geographic location; determine a number of swath paths that said generated swath path nearest to said current geographic location is subsequent to said base swath path; divide said difference by said determined number of swath paths to produce a swath width remark distance; and add said swath width remark distance to said original swath width to produce a modified swath width. ### Claim 12 (depends on 11) The agricultural vehicle according to claim 11, further comprising a display carried by said chassis and coupled to said EPC. ### Claim 13 (depends on 11) The agricultural vehicle according to claim 11, wherein said EPC is further operable to write said modified swath width to said memory. ### Claim 14 (depends on 11) The agricultural vehicle according to claim 11, further comprising at least one traction member carried by said chassis, a steering mechanism linked to said at least one traction member that controls a steered direction of said at least one traction member, and an automatic steering system linked to said steering mechanism and coupled to said EPC, said automatic steering system being operable to control said steering mechanism and receive steering instructions from said EPC. ### Claim 15 A method for altering a swath pattern of a vehicle, comprising the steps of: loading a base swath path and an original swath width into a memory of said vehicle; generating a plurality of swath paths from said base swath path and said original swath width, each of said generated swath paths defining at least two geographic locations; inputting a swath width remark distance into said memory; adding, using an electrical processing circuit (EPC) coupled to said memory, said swath width remark distance to said original swath width to produce a modified swath width; re-generating, using said EPC, at least one of said generated swath paths using said modified swath width in place of said original swath width; and controlling a steering direction of said vehicle based on said at least one re-generated swath path. ### Claim 16 (depends on 15) The method according to claim 15, further comprising the step of modifying said input swath width remark distance to produce a modified swath width remark distance, wherein said adding step and said re-generating step are performed using said modified swath width remark distance in place of said swath width remark distance. ### Claim 17 (depends on 15) The method according to claim 15, further comprising the step of storing said swath width remark distance in said memory. ### Claim 18 (depends on 17) The method according to claim 17, wherein said swath width remark distance is stored as one of a distance and a percentage of said original swath width. ### Claim 19 (depends on 15) The method according to claim 15, wherein said swath width remark distance is input as one of a distance over a number of generated swath paths subsequent to said base swath path and a percentage of said original swath width.