Adaptive Curve Mode

Theory of Operation

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The curvature of the path changes as the subsequent paths get more convex or concave.

Curve Track allows the operator to record a manually driven curved path. Once the first curved pass has been recorded and machine is turned around, the operator can Parallel Track or activate AutoTrac once the propagated path appears. The vehicle will be guided along subsequent passes, based off of the previous recorded pass. Each pass is generated from the previous pass to ensure steering errors are not propagated through the entire field. The generated passes are not identical copies of the original pass. The curvature of the pass changes to maintain pass to pass accuracy. When necessary, the operator can change the curve path anywhere in the field by simply steering the machine off the propagated path.

NOTE: Skip pass is not available in Adaptive Curve Mode.

Track 0 Setup

1. 
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   GreenStar 3 Pro - Guidance

   A - View

   B - Guidance Settings

   C - Shift Track Settings

   D - Tracking Mode

   E - Implement Guidance Mode

   F - General Settings

   G - Curve Track Settings

   GUIDANCE SETTINGS tab >> TRACKING MODE drop-down box—Select ADAPTIVE CURVES.

   IMPORTANT: Track Spacing must be set for operation of this mode. Set track spacing in EQUIPMENT softkey >> IMPLEMENT tab.

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2. Drive to desired location in the field for start of Track 0.

3. 
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   GreenStar 3 Pro - Guidance

   A - View

   B - Guidance Settings

   C - ShiftTrack Settings

   D - Current Curve Drop-Down

   E - Repeat Mode Check box

   F - Record button

   G - Pause Button

   Select the drop-down box to select, create, or edit an adaptive curve track.

   Selecting new option to type a custom name for the adaptive curve.

   Selecting an existing adaptive curve listed from the drop-down list, the operator can repeat the adaptive curve or edit it.

   To repeat a guidance line, repeat box must be checked. To edit an adaptive curve line, repeat box must be unchecked and then proceed to the next step.

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4. VIEW tab—Press RECORD button.

5. 
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   Curve Track Record Button

   A red light by RECORD button indicates path is being recorded.

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6. Drive vehicle along desired path.

7. Turn vehicle at the end of first pass and the curve path will generate the next pass.

Multiple Adaptive Curves

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A - List Cleanup

B - Data Cleanup

C - Rename Button

D - Delete Selected Data Button

To delete adaptive curves:

1. Select current curve selection box.

2. Select “List Cleanup” on drop-down menu (A).

3. Use Data Cleanup (B) to rename (C) adaptive curves for a field.

4. Delete (D) adaptive curves on a field by field basis.

Repeat Mode

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A - View

B - Guidance Settings

C - ShiftTrack Settings

D - Current Curve Drop-Down

E - Repeat Mode Check box

F - Record button

G - Pause Button

While using adaptive curves Repeat Mode does the following:

• Repeat Mode ON repeats previous paths and disables recording
• Repeat Mode OFF enables recording and projects guidance paths off of previously recorded passes

NOTE: In repeat mode, the operator repeats previously recorded passes.

Toggle the Repeat Mode button upon entering the field (E).

While recording a new path the Repeat Mode button (E) should be unchecked (Off).

After turning around on the end or coming back after an obstacle where recording is off, the customer will be able to see where the line is without having to turn on Recording. Therefore Recording goes on only when you really want to be recording.

If operator would like to record new paths (such as Planting) Repeat Mode (E) should be unchecked (Off).

If operator would like to follow existing paths (such as Spraying, Harvesting) the Repeat Mode button (E) should be checked (On).

• The repeat mode feature decouples the recording button from the selection of path follow or path project mode.
• The operator shall select Repeat Mode as OFF (path project mode) when recording a path for the first time.
• Repeat Mode shall be selected ON (path follow mode) when following previously recorded paths.
• This function affects the search algorithm. Repeat Mode Off is +- 0.5-1.5 Track Spacing. Repeat Mode On is +- 0.5 Track Spacing.
• The default is OFF. If Repeat Mode is ON, the recording button is disabled.

Saving Curve Track Data

The stored Curve Track data is assigned to a Client, Farm, Field name that is setup in the RESOURCES/CONDITIONS softkey >> RESOURCES tab.

NOTE: Setup of Client, Farm, and Field is not required for Curve Track operation but is required for the track to be saved and repeated.

The recorded Curve Track data is saved to the USB drive. This data can be transferred into APEX and then saved to the USB drive or additional USB drives for use in future field applications. The USB drive can also be taken from one 2630 to another and recalled for use.

IMPORTANT: If it is desired to have repeatability with saved Curve Track data, it is required that the initial Curve Track data and subsequent trips across the field be made using StarFire RTK (Real Time Kinematics) accuracy. RTK base station should be operating in Absolute Base mode.

Recalling Saved Curve Data

NOTE: Recalled Curve Track data is available for the same width implement the data was recorded with. If a different implement width is used, new data must be recorded.

IMPORTANT: Make sure the USB drive contains the Curve Track data for this field.

• RESOURCES/CONDITIONS softkey >> RESOURCES tab (Select the Client, Farm, Field name to which the stored Curve Track data was assigned.)
• GUIDANCE SETTINGS tab >> TRACKING drop-down box >> ADAPTIVE CURVES
• EQUIPMENT softkey >> IMPLEMENT tab >> enter implement width/track spacing.

Smooth Tight Turns

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A - Curve Track Settings

B - Curve Track Recording

C - Adaptive Curve Gap Fill

D - Smooth Tight Turns

E - Implement In-Ground Turn Radius

F - Accept

GreenStar 3 Pro - GUIDANCE >> GUIDANCE SETTINGS tab >> CURVE TRACK SETTINGS CHANGE button

Smooth Tight Turns—When box is checked the system will automatically smooth a propagated path that was becoming tight.

Implement In-Ground Turning Radius (ft)—This is the value of how tight of a turn radius the implement can turn while in the ground. For a drawn implement, this measurement should be no less than the physical width of the implement. A higher Implement In-Ground Turn Radius will result in smoother turns. A lower Implement In-Ground Turn Radius will result in tighter turns. This setting is only used for generating curve tracks.

NOTE: Be sure Implement In-Ground Turn Radius is set to a realistic value for the size of implement being used.

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Smoothing Tight Turns OFF

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Smoothing Tight Turns ON

A - Previous Pass

B - Next Pass—Smoothing Tight Turns Off

C - Next Pass—Smoothing Tight Turns On

D - In-Ground Turn Radius

With Smoothing Tight Turns ON, the path is generated based on user's turn radius.

Operating Curve Track

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GreenStar 3 Pro - Guidance

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Curve Track Record Button

A - View

B - Guidance Settings

C - ShiftTrack Settings

D - Current Curve Drop-Down

E - Repeat Mode Check box

F - Record button

G - Pause Button

IMPORTANT: RTK Absolute Base Mode is required in high accuracy applications when repeatability is needed. Only RTK Absolute Base Mode provides consistent repeatability and accuracy in Curve Track.

To start using Curve Track:

GUIDANCE softkey >> VIEW tab — select RECORD button

To start using Adaptive Curves GUIDANCE softkey >> VIEW tab — select RECORD button

IMPORTANT: Recording has to be on to record initial pass and to propagate and record all subsequent passes.

Recording only needs to be turned off if machine is driven outside of normal field pattern (such as refill sprayer, planter) or if customer does not want to record turns at end of field or in headlands. Turning recording on/off must be done manually. Recording can be left on when turning at end of each pass if desired.

Drive initial pass.

NOTE: No navigation line will appear until end of pass is reached and machine is turned around. Once machine is turned around, system will begin searching through recorded line segments to determine path to guide on. System locates a line segment that is parallel and within 1/2 to 1-1/2 track spacings. The predicted path will appear from which the operator can navigate from.

Shift Track will only shift the recorded line segments in one direction based off of the orientation of the line segment you are currently on.

Record and Repeat

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A - Curve Track Settings

B - Curve Track Recording

C - Adaptive Curve Gap Fill

D - Smooth Tight Turns

E - Implement In-Ground Turn Radius

F - Accept

NOTE: Track spacing must be the same for all passes.

The operator can also manually drive an entire field or defined pattern with record button on and then repeat the recorded paths.

Example:

• Record each pass in a field that had drip tape installed without an automatic guidance system with varying guess rows.
• Follow beds from previous season to record all passes in field.

IMPORTANT: RTK Absolute Base Mode is required in high accuracy applications when repeatability is needed. Only RTK Absolute Base Mode provides consistent repeatability and accuracy in Curve Track.

Using Record and Repeat

• RESOURCES/CONDITIONS softkey >> RESOURCES tab (Select the Client, Farm, Field name to which the stored Curve Track data was assigned.)
• GUIDANCE SETTINGS tab >> TRACKING MODE drop-down box >> ADAPTIVE CURVES >> CURVE TRACK SETTINGS >> CHANGE
• EQUIPMENT softkey >> IMPLEMENT tab >> enter implement width/track spacing.

Drive into field where first pass is located.

When the path the machine is to guide off of is highlighted, press resume switch (AutoTrac only) and machine will automatically steer on that pass. In Parallel Tracking (manual guidance) the operator will be guided off of the highlighted pass.

IMPORTANT: Do not turn the Record button on. Record and Repeat does not require the Record button be on unless the operator is redefining a path.

Guiding Around Obstacles in Field

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Recording is Left On

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Recording Turned Off

A - Turned Recording OFF

B - Turned Recording ON

Recording ON: If recording is left on while driving around an obstacle that deviation to the propagated path will be recorded and become a part of the path. On the next pass when you approach the area in the field the propagated path for the pass that the machine is on will have incorporated that deviation and the machine will steer along that deviation. To straighten out that deviation, the operator must take over manual steering of the machine and straighten out that deviation. Once the operator has driven past the deviation in the field and reacquired the intended path the resume switch may be engaged and AutoTrac will take over machine steering.

Recording OFF: If recording is turned off when the obstacle is approached and steered around and then recording turned back on once the obstacle has been navigated around and AutoTrac activated to finish the pass, there will be a gap in the recorded path where the obstacle is. On the next path when the machine approaches the gap the operator must take over manual steering of machine and navigate through the gap. Once the gap has been navigated and the propagated path is reacquired, AutoTrac can be activated and the gap will not appear in subsequent passes.

Adaptive Curves Gap Fill

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A - Curve Track Settings

B - Curve Track Recording

C - Adaptive Curve Gap Fill

D - Smooth Tight Turns

E - Implement In-Ground Turn Radius

F - Accept

If recording is turned off momentarily and turned back on, a straight line is generated to fill gap where recording was turned off if it meets a set distance and heading requirement. AutoTrac does not deactivate on following passes. If the generated straight line where the gap would have been on subsequent passes is incorrect, the operator must take over manual steering of the machine and navigate along best fit line then engage on the original line.

Example: An operator drives an SPFH along a truck until the truck is full. Operator stops when truck is full and the truck drives away. The operator of the SPFH then raises the head and backs up to wait for the next truck. Raising of the head turns documentation off breaking the adaptive curve into separate segments. On subsequent passes, gap will be filled by the white line. The gap in the blue line will still be shown on the display, but will not disable AutoTrac.

Adaptive Curves Gap Fill Option

NOTE: Adaptive Curves Gap Fill Option will default to On at every start up.

GreenStar 3 Pro - GUIDANCE >> GUIDANCE SETTINGS tab >> CURVE TRACK SETTINGS CHANGE button

Curve Track Settings

Adaptive Curve Gap Fill Checkbox: When checkbox (C) is checked, system will automatically connect an adaptive curve that was split into two segments if it meets heading and distance requirements. Unchecking check box disables this feature.

Guidance Patterns

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A - Simple Curve

B - Boxed

C - Spiral

D - S-Curve

E - Race Track

F - Circle

• Simple Curve
• S-Curve
• Boxed
• Race Track
• Spiral
• Circle

Shift Track Operation

The use of shift track is not recommended when using Curve Track. Shift track will not compensate for inherent GPS drift in Curve Track mode.

Pause Recording Feature

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Curve Track Pause Recording Feature

A - View

B - Guidance Settings

C - ShiftTrack Settings

D - Curve Track Recording Paused . . .

E - Pause Button

The PAUSE button (E) is located next to the curve track recording button.

This feature allows the user to PAUSE the recording of a vehicle's path. When recording is UN-PAUSED, curve track will resume recording and connect the space between where it was PAUSED and UN-PAUSED with a straight line. This can be helpful when there is a long straight section of path or when navigating around obstacles.

NOTE: The longest bridge segment (line segment created between PAUSED and UN-PAUSED) that can be created is a distance of 0.8 km (0.5 miles) (2,640 ft.). If the distance between the points is greater than 0.8 km (0.5 miles) (2,640 ft.) the line segment will not connect resulting in a gap in the path.

Operating Pause Recording

When the pause button is selected, “Paused“ is displayed below the RECORD button. To un-pause, select PAUSE button again.

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Straight Path starting from the Field's Edge

A - Recording Turned ON then PAUSED

B - Bridge segment is generated to connect points

C - Recording UN-PAUSED

Recording a Straight Path within a Curved Path

Straight Path starts from Field Edge:

1. Drive the vehicle to the designated starting spot in the field. Turn curve track recording on and press the PAUSE button.
2. “Paused” is displayed below the button.
3. Start driving the first pass. When the spot in the field is reached where the pass starts to curve, select the pause button again and curve track will start recording again.
4. Drive to the end of the first pass.
5. The straight path (B) will be created when the recording is un-paused.

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Straight Path between Two Curves

A - Recording PAUSED

B - Bridge segment is generated to connect points

C - Recording UN-PAUSED

Recording a Straight Path within a Curved Path

Straight Path is between Two Curves:

1. Drive the vehicle to the designated starting spot in the field and turn curve track recording on.
2. Start driving the curve path.
3. When you want to start creating a straight path, select the pause button.
4. Recording indicator will turn black. “Paused” is displayed below the button.
5. Drive the straight path.
6. When you are at the point where the straight path should end, select the pause button again and curve track will start recording again.
7. The straight path (B) will be created when the recording is un-paused.

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PASS 2

A - Recording PAUSED

B - Bridge segment is generated to connect two points

C - Tractor path not recorded while paused

D - Recording UN-PAUSED

E - Path recorded without the tractors deviated path.

Guiding Around Obstacles in Field

Recording PAUSED:

If recording is PAUSED when the obstacle is approached and steered around and then recording is UN-PAUSED once the obstacle has been navigated around, a straight-line segment will be connected between the points where curve track recording was PAUSED and where it was UN-PAUSED.

The next pass will be propagated without a deviation or a gap around the obstacle as occurs when recording is left on or turned off when going around an obstacle.

Additionally, if the vehicle is navigating on the curve path, when curve track is PAUSED, the curve path will:

• Remain displayed on the screen to aid in getting lined up once you drive around the obstacle. If the path disappears from the display due to exceeding the 40% track spacing rule, manually line the vehicle up on the other side of the obstacle and the line will appear once the previous pass is located again
• AutoTrac can be activated while PAUSED to get the vehicle lined up on the path before UN-PAUSED curve track recording.

IMPORTANT: Curve track recording MUST be UN-PAUSED once the obstacle is navigated, so curve track continues to record the driven path to be able to propagate the next pass.