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1 | Exhibit D Users Manual per 2 1033 b3 | Users Manual | 753.44 KiB | December 03 2003 |
CenterLine (Draft Users Guide) A lightbar guidance system with wireless remote control. Software Version 1 Midwest Technologies Inc. CenterLine - 01/02/2003 CenterLine Software Version 1 Introduction About CenterLine CenterLine is a low-cost lightbar guidance system controlled by a wireless remote. CenterLine pro-
vides accurate straight-line and curved guidance, for use in spraying, seeding and other related jobs at a cost that rivals foam markers. The CenterLine product comes with a WAAS DGPS receiver providing sub-meter pass to pass positioning accuracy. The wireless remote control is used to set-up and operate the system through menus and options displayed on the lightbar. CenterLines attractive design combines a compact size with easy to see LEDs that are fully adjustable using dedicated buttons on the wireless remote. The lightbar can be dimmed to effi-
ciently run at night and brightened to be easily seen in full sunlight. Straight or Curved Guidance CenterLine will guide you along swaths of all kinds with sub-meter pass to pass accuracy. You select the driving pattern and CenterLine determines the closest swath to guide you next to. Theres no need to decide a guidance pattern ahead of time, or to commit to a pattern for the entire job. Centerline allows you to switch patterns in real-time. Centerline determines when you are using a new pattern and keeps you informed of your current status. Wireless Remote Control Unit CenterLines ergonomic, handheld remote control is easier to use than most TV remotes. Seven easy to read keys allow you to scroll through menus displayed on the lightbar. The remote keypad is backlit for night-time operation, and one set of AA batteries (included) will power the unit for an entire season. The small, powerful remote permits mounting the weather-resistant lightbar outside on the hood or in the cab. When mounted outside, wireless communication permits easy operation while the cab stays clean and sealed from dust and contaminants. Lightbar Shows you the Information You Want A text display on the lightbar reports the guidance information of your choice. It also warns you when you enter an area of the field that has been already applied. Guidance text information can be turned off, if you choose not to see this data. You choose two of these guidance messages to monitor progress in real-time:
Cross-Track Error, Current Swath Number, Vehicle Speed, Applied Area, Vehicle course on the ground. 2 CenterLine (Draft Users Guide) Introduction
CenterLine Software Version 1 About this Users Guide This is the CenterLine users guide version 1 and will cover CenterLine software versions 1.00 to 1.99. Some software versions may come with a supplement to this users guide. Menu Items and Pick List Text Throughout this users guide, menu item text will be displayed between the <> characters. EG
<START>. Keys on the remote, (Figure 4) will be denoted in bold italics, such as Enter. Most of the figures in this users guide are of menu items that would be displayed in the text win-
dow of the lightbar (Figure 5). This text will represent either a menu item such as <GUIDANCE> or a pick-list item, such as <METRIC>. The lightbar text window can only display a single line of text up to ten characters long. Figure 1 shows an example of a single text line that would be displayed on the lightbar. The enter symbol on the right hand side of the text window means that you can press the Enter key on the remote and move to a sub-menu or a pick-list. The up and down arrows on the left hand side of the text display indicate that there are menu items or pick-list values above and below the currently shown menu or pick-list item, and they can be accessed by using the Up and Down arrow keys on the remote. Figure 1: Example of Text Displayed on Lightbar Figures with multiple menu items are depicting the menu items that are above, below, left and right of the text line currently in view. Figure 2 shows several menu items. The current menu item in view is <SETUP> and is denoted with a black arrow to the right side of the text. This figure is showing that if you use the Up and Down arrow keys you can scroll between <START>, <SETUP>
and <TOOLS>. If you press the Enter key on the remote, you will move to the <GUIDANCE>
setup menu item. This figure also shows you that if you are at the <GUIDANCE> menu item, you can scroll between the <GUIDANCE>, <LIGHTBAR> and <SYSTEM> setup menus using the Up and Down arrow keys. Figure 2: Displaying Multiple Text Lines CenterLine (Draft Users Guide) 3 Introduction CenterLine Software Version 1 Menu Items Back and To Start There are two additional menu items that are found in almost every menu, <BACK> and <TO START>. Figure 3 shows the <BACK> and <TO START> menu items in the System Setup menu list. Selecting <BACK> will take you back a menu heading. In this example pressing back would take you to <SETUP>. Selecting <TO START> will automatically take you to the <START> menu;
from here you can begin real-time guidance. Using <TO START> is useful when you need to quickly change one setting and then go right back into real-time operation. Figure 3: Back and To Start Menu Items Software Components CenterLine software can be broken into three components, Setup (CenterLine Setup on page 12), Real-Time (CenterLine Real-Time Operation on page 27) and Tools. Setup will allow you to configure the CenterLine to best suit their requirements and the Real-Time component will handle all of the real-time guidance operations. The Tools component will provide basic diagnostics for the lightbar and also the attached GPS receiver. 4 CenterLine (Draft Users Guide) Introduction CenterLine Software Version 1 Wireless Remote Control General Operation Operation of CenterLine software is via remote keypad input and menu items displayed in the text display area, (Figure 5), of the CenterLine lightbar. The Up and Down arrow keys will be used to scroll through menus, sub-menus and pick lists. The Enter key will be used to enter menus, sub-
menus and accept a desired pick-list entry. The ESC key acts as cancel. Figure 4: The Wireless Remote Control Unit FCC Statement This device complies with part 15 of the FCC Rules. Operation is subject to the following two con-
ditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. QS7CL7850094 QS7CL7850107 TR19JN96.008 Changes or modifications to the product, not expressly approved by Midwest Technologies Illinois, LLC, could void the user's authority, as granted under Part 15 of the FCC Rules, to operate the equipment. CenterLine (Draft Users Guide) 5 Introduction CenterLine Software Version 1 CenterLine Lightbar Figure 5: The CenterLine Lightbar Lightbar Specifications Housing Material:
ABS/Polycarbonate alloy construction. Dimensions:
3.70H x 9.40W x 3.80D (95 mm x 240 mm x 100 mm) Weight:
0.8 lbs (0.36 kg) Processor:
Intel StrongARM RAM:
LEDs:
16 MB, 2 MB Flash High-lumen red and green radial light pattern and 10 character LED alpha-numeric text display. Full brightness control adjustment using wireless remote. Operating Temp:
32 to 160 F (0 to 70 C) Storage Temp:
-40 to 185 F (-40 to 85 C) I/O to DGPS:
1 asynchronous RS 232 I/O to Control Unit:
Wireless link operating at 418 MHz. FCC part 15 and Industry Canada RSS-210 certified. Other certifications pending. Mounting:
Mounting bracket supplied. Magnetic and suction mounts are optional. 6 CenterLine (Draft Users Guide) Introduction CenterLine Software Version 1 CenterLine Quick Start-up The following section assumes that you CenterLine hardware has been properly setup. See Cen-
terLine Product Kits on page 8 for infoprmation on how to configure your system. General Start-up Sequence Apply power to CenterLine. Lightbar performs a start up sequence.. Lightbar text display will display current software version. Lighbar will display <START>. Software should stay at current location until you press Enter to start real-time guidance or scroll the Start menu using Up or Down to move to another menu option, <SETUP> or
<TOOLS>. First Time Start-up Sequence Apply power to CenterLine. Lightbar performs a start up sequence.. Lightbar text display will display current software version. Lighbar will display <START>. Using Up or Down, scroll until <SETUP> is displayed on the lightbar. Press Enter. Run through the three setup sub-menus <GUIDANCE>, <LIGHTBAR> and <SYSTEM>. It is important to have the correct swath width entered. Return to the <START> location and press Enter to begin real-time guidance. CenterLine (Draft Users Guide) CenterLine Quick Start-up 7
CenterLine Software Version 1 CenterLine Product Kits CenterLine Kit without DGPS Receiver Figure 6: CenterLine without DGPS Receiver 8 CenterLine (Draft Users Guide) CenterLine Product Kits CenterLine Software Version 1 CenterLine Kit with RX 360p WAAS DGPS Receiver Figure 7: CenterLine Kit with RX360p WAAS DGPS Receiver CenterLine (Draft Users Guide) 9 CenterLine Product Kits CenterLine Software Version 1 CenterLine Kit with RX 350p WAAS DGPS Receiver Figure 8: CenterLine with RX 350p WAAS DGPS Receiver 10 CenterLine (Draft Users Guide) CenterLine Product Kits CenterLine Software Version 1 CenterLine with RX 400p DGPS Receiver Figure 9: CenterLine with RX 400p DGPS Receiver CenterLine (Draft Users Guide) CenterLine Product Kits 11 CenterLine Software Version 1 CenterLine Setup CenterLine Setup allows you to configure the CenterLine product to best suit your guidance and mapping requirements. For the complete overview of the Setup process see Section , CenterLine Setup Flow Diagram, on page 24. CenterLine Setup will have three sub-menus, <GUIDANCE>,
<LIGHTBAR> and <SYSTEM>, each is described in detail below. Figure 10 shows the Setup flow. The top level of CenterLine software has three menus to choose from, <START>, <SETUP> and
<TOOLS>. To enter the setup menus, use Up or Down to scroll until <SETUP> is visible, then press enter. Once in Setup you can scroll through the setup menu list, <GUIDANCE>, <LIGHT-
BAR> and <SYSTEM>, and select the desired setup menu by pressing Enter. See Figure 10. Figure 10: CenterLine Setup Flow 12 CenterLine (Draft Users Guide) CenterLine Setup CenterLine Software Version 1 Guidance Setup Guidance setup allows you to set up several parameters that pertain to guidance functionality. Cur-
rently there are four guidance settings, see Table 1. To access Guidance setup from the Setup menu, scroll until the text window displays <GUID-
ANCE>, press Enter. Menu item <WIDTH> should be displayed in the text window. Use Up or Down to scroll through the list of Guidance setup menu items. Figure 11: Guidance Setup Flow Setting Name Default Value Change at 1st Time Start Up Width 30.0 feet (10 meters) Required Antenna -Direction Antenna - Distance Status Detect Alarm None 0.0 ft. Off Off Recommended Recommended Optional Recommended Table 1: Guidance Menu Item Default Settings The Guidance menu item <ANTENNA> is a sub-menu of Guidance. The <DIRECTION> and
<DISTANCE> menu items will be listed under this Antenna sub-menu. From these menu items you can set the offset distance and direction (Figure 16). CenterLine (Draft Users Guide) CenterLine Setup 13 CenterLine Software Version 1 Width The Guidance setup parameter Width is the distance between guidelines. This width is typically the vehicle implement width or spread area. Setting this width slightly smaller than the actual width will reduce skips. Setting this width slightly larger than the actual width will reduce overlap. To set the Width setting, go to <GUIDANCE> and scroll with Up or Down until <WIDTH> is dis-
played, press Enter. To increase the width press Up, to decrease the width press Down. Press Enter once the desired width is set. The width value increments in 0.5 ft. intervals. Figure 12: Setting the Guidance Width Value Antenna The Antenna sub-menu defines the spatial relationship between the GPS antenna and the vehicle implement or delivery point. The GPS antenna should always be mounted along the vehicle center line (Figure 16). The two Antenna menu setting are Direction and Distance. To enter the Antenna sub-menu, go to <GUIDANCE> and scroll until <ANTENNA> is displayed in the text window and press Enter. As mentioned there are two settings under Antenna, <DIREC-
TION> and <DISTANCE>. The text window should display <DIRECTION>. Use Up or Down to move between the <DIRECTION> and <DISTANCE> settings. Press Enter once the desired set-
ting is in the text window. Figure 13: Accessing the Antenna Sub-Menu 14 CenterLine (Draft Users Guide) CenterLine Setup CenterLine Software Version 1 Direction The Direction setting is the direction from the GPS antenna to the swath or delivery point (Figure 16). To set the Direction setting go to the Antenna sub-menu of Guidance setup and scroll until
<DIRECTION> is displayed in the text window, press enter. Using Up or Down scroll through the direction pick list (see Table 2) until the desired direction is displayed in the text window. Press Enter to save the setting and return to the Guidance setup menu. Figure 14: Setting the Direction to Swath Setting Description Back Forward The swath or delivery point is behind the GPS receiver on the vehicle along the vehicle center line. The swath or delivery point is forward of the GPS receiver on the vehicle along the vehicle center line. Table 2: Direction to Swath Settings Distance The Distance setting is the distance from the GPS antenna to the swath or delivery location (Fig-
ure 16). To set the Distance setting go to the Antenna sub-menu of Guidance setup and press Enter, scroll until <DISTANCE> is displayed in the text window, press Enter. To increase the distance press Up, to decrease the distance press Down. Press Enter once the desired distance is set. Figure 15: Setting the Distance to the Swath CenterLine (Draft Users Guide) CenterLine Setup 15 CenterLine Software Version 1 Figure 16: Direction and Distance to Swath from DGPS Receiver Status The <STATUS> setting is used to auto detect implement status. When the status detect is properly implemented the CenterLine will detect when product delivery is on or off based the vehicles spray on or spray off switch. See CenterLine Product Kits on page 8 for location of status connect wir-
ing. To set the Status setting go to Guidance setup and scroll with Up or Down until <STATUS> is dis-
played in the text window, press Enter. Using Up or Down scroll between the <ON> and <OFF>
settings until the desired setting is displayed in the text window. Press Enter to save the setting and return to the Guidance setup menu. Figure 17: Selecting the Status Setting Setting Description OFF No Status Detect implemented. Default setting. Table 3: Status Settings 16 CenterLine (Draft Users Guide) CenterLine Setup CenterLine Software Version 1 Setting ON Description Status detect will assume a single swath centered on the vehicle. Table 3: Status Settings Alarm The <ALARM> setting, when set to ON, will notify you when approaching and entering a previ-
ously applied area. The text window will display <APPLIED> when the implement swath is in a previously applied area of the field. To set the Alarm setting go to Guidance setup and scroll until <ALARM> is displayed in the text window, press enter. Using Up or Down scroll between the <ON> and <OFF> settings until the desired setting is displayed in the text window. Press Enter to save the setting and return to the Guidance setup menu. Figure 18: Setting the Alarm Setting Description Off On No applied area detection. Applied area detection alarm. Table 4: Status Detect Settings CenterLine (Draft Users Guide) CenterLine Setup 17 CenterLine Software Version 1 Lightbar Setup Lightbar setup allows you to set several parameters related to the lightbar. There are four lightbar settings, Drive Sensitivity <SPACING>, Display Mode <MODE> and two selectable messages
<TEXT 1> and <TEXT 2>, see Figure 19 and Table 5. Figure 19: The Lightbar Setup Flow Setting Name Default Value Change at 1st Time Start up Spacing Mode Text 1 Text 2 1.5 ft. Vehicle X-Track Error Applied Area Optional Optional Optional Optional Table 5: Lightbar Menu Item Default Settings Spacing The Spacing setting allows you to set the distance you would like a single light on the lightbar LEDs to represent. To change the Spacing setting go to Lightbar setup and scroll until <SPACING> is displayed in the text window and press Enter. To increase the spacing distance press UP, to decrease the spacing press Down. Press the Enter key once the desired spacing is set. The Spacing range is 0.5 ft. to 9.5 ft., in 0.5 increments. 18 CenterLine (Draft Users Guide) CenterLine Setup CenterLine Software Version 1 Mode Figure 20: Setting the LED Spacing The Mode setting defines how you will interpret the row of LEDs. The center stack of Green LEDs can represent either the current guideline or the vehicle, see Table 6. To change the Mode setting go to Lightbar setup and scroll until <MODE> is displayed in the text window, press Enter. Using Up or Down, scroll through the Mode pick list until the desired setting is displayed in the text window. Press the Enter key to save the setting and return to the <TEXT 1>
menu item. Figure 21: Setting the Mode Setting Swath Vehicle Text 1 Description When Display Mode is set to Swath, the center stack of Green LEDs will represent the current guideline. In this mode, steer the vehicle to bring the moving LED back to center When Display Mode is set to Vehicle, the center stack of Green LEDs will represent the vehicles position. In this mode, steer the vehicle to bring the center lights towards the moving LED. Table 6: Display Mode Settings The Text 1 setting allows you to select a text message from a set of predetermined guidance infor-
mation messages. These messages will be displayed in the lightbar text window during guidance operations. A maximum of two text messages can be displayed. To set the Text 1 setting go Lightbar setup and scroll using Up or Down until <TEXT 1> is dis-
played in the text window, press Enter. Using Up or Down scroll through the Text 1 pick list until the desired message is displayed in the text window. Press Enter to save the setting and advance to the <TEXT 2> menu item. CenterLine (Draft Users Guide) CenterLine Setup 19 CenterLine Software Version 1 Figure 22: Selecting the Text 1 Message Description Displays the error (in distance) between the current guideline and the vehicle position. Displays the current guideline number. Message X-Track Swath #
Ground Speed Displays the vehicle ground speed. Area Applied Displays the amount of area covered, sprayed or spread in acres or hectares. COG Off Text 2 Course on Ground, displays the vehicle heading in degrees. When Off is selected no message will be displayed in this message slot. Table 7: Text 1 Options The Text 2 setting allows you to select a text message from a set of predetermined guidance infor-
mation messages. These messages will be displayed in the lightbar text window during guidance operations. To set the Text 2 setting go Lightbar setup and scroll using Up or Down until <TEXT 2> is dis-
played in the text window, press Enter. Using Up or Down scroll through the Text 2 pick list until the desired message is displayed in the text window. Press Enter to save the setting and return to the Lightbar setup menu. 20 CenterLine (Draft Users Guide) CenterLine Setup CenterLine Software Version 1 Figure 23: Selecting the Text 2 Message Message X-Track Swath #
Description Displays the error (in distance) between the current guideline and the vehicle position. Displays the current guideline number. Ground Speed Displays the vehicle ground speed. Area Applied Displays the amount of area covered, sprayed or spread in acres or hectares. COG Off Course on Ground, displays the vehicle heading in degrees. When Off is selected no message will be displayed in this message slot. Table 8: Text 2 Message Options CenterLine (Draft Users Guide) CenterLine Setup 21 CenterLine Software Version 1 System Setup System setup allows you to configure settings that effect the entire CenterLine product. There are only two settings, Units and Language (Table 9). Figure 24: System Setup Setting Name Default Value Change at 1st Time Start Up Unit Language US English Optional Optional Table 9: System Menu Item Default Settings Units System Units allows you to select between US and Metric units (Table 10). To change the system units, enter System Setup and scroll through the sub-menu list until
<UNITS> appears in the text window, press Enter. Next scroll between the two units choices,
<METRIC> or <US>. When the desired unit is displayed press the Enter key. The software should bring you back to <UNITS>. Figure 25: Setting System Units 22 CenterLine (Draft Users Guide) CenterLine Setup CenterLine Software Version 1 Pick List Description US Metric All units will be entered and displayed in Feet, Miles, Acres and US volumes. This is the default setting. All units will be entered and displayed in Meters, Kilometers, Hectare and Metric vol-
umes. Table 10: The Unit Menu Item Settings Language CenterLine comes pre-loaded with several languages. To change the system language, enter Sys-
tem Setup and scroll through the sub-menu list until <LANGUAGE> appears in the text window, press Enter. Next scroll to the desired language using Up or Down. When the desired language is displayed press the Enter key. The software should bring you back to <LANGUAGE>
Figure 26: Setting the System Language CenterLine (Draft Users Guide) CenterLine Setup 23 CenterLine Software Version 1 CenterLine Setup Flow Diagram Figure 27: CenterLine Setup Flow Diagram 24 CenterLine (Draft Users Guide) CenterLine Setup CenterLine Software Version 1 Tools The Tools menu is intended to provide some basic system diagnostics. Tools contains two diag-
nostic tools, Receiver and Lightbar (see Table 11). To access Tools from the Setup menu, scroll until the text window displays <TOOLS>, press Enter.
<RECEIVER> should be displayed in the text window. Use Up or Down to scroll through the Tools menu. Figure 28: The Tools Menu Flow Menu Item Description Receiver Lightbar Allows you to check status of a connected GPS receiver. Allows you to test the functionality of the CenterLine Lightbar LEDs and text window. Table 11: Tools Menu Items Receiver The Receiver diagnostic test will query the attached GPS receiver and return its current configura-
tion and status. This information will be displayed in the text window on the lightbar. To start the Receiver check go to Tools menu and scroll until <RECEIVER> is displayed in the text window, press Enter. The lightbar will display the following diagnostic message sequence in Table 12. Diagnostic GPS Status Description Returns Yes if the lightbar is receiving GPS data from the receiver. Returns NO if the lightbar is not receiving GPS data. The text window message will appear as <GPS:YES> or <GPS:NO>. Table 12: Receiver Diagnostic Messages CenterLine (Draft Users Guide) Tools 25 CenterLine Software Version 1 Diagnostic DGPS Status NMEA Strings Description Returns Yes if the lightbar is currently receiving differentially correct GPS positions. Returns No if the GPS positions are not differentially corrected. Text window messages will appear as <DGPS:YES> or
<DGPS:NO>. Returns the name of each NMEA string currently being sent from the receiver. As an example if the NMEA GPGGA string is being sent from the receiver to the CenterLine then the text window will display
<GPGGA>. Data Rate Returns the current receiver data rate. This is typically 5 Hz. The rate will be displayed in the text window, e.g. <5 HZ> will be displayed for the 5 Hertz data rate. Table 12: Receiver Diagnostic Messages Lightbar The Lightbar diagnostic test will initiate an illumination sequence of all of the LEDs and text win-
dow, followed by a brightness control sequence. This will allow you verify if all lights are working properly on the CenterLine lightbar. To start the Lightbar check go to <TOOLS> and press Enter. Scroll with Up or Down until <LIGHT-
BAR> is displayed in the text window, press Enter. The illumination sequence should start. When test is completed the lightbar will display <END>. 26 CenterLine (Draft Users Guide) Tools CenterLine Software Version 1 CenterLine Real-Time Operation Starting Real-time Operation This section assumes that you have read the setup section, CenterLine Setup on page 12 and have properly setup your CenterLine lightbar. Start real-time operation by pressing Enter when <START> is displayed in the text window. The
<START> menu item is at the highest menu level. You can jump to <START> easily from most menu levels by scrolling to <TO START> and pressing Enter. This will jump you to the <START>
location from where ever you are in the menu structure (Figure 27). Figure 29 is a flow diagram of the CenterLine real-time operation and menu. Figure 29: Real-Time Operation Flow Diagram New? Resume?
Once Enter has been pressed at the <START> location, you will be prompted to start a new field or resume working in the current field. During real-time operation CenterLine stores the vehicles trajectory data. This allows you to stop working in a field before you are finished and return at a later time and continue where you left off. Only the current field is stored. Use Up or Down to scroll between the <NEW?> and <RESUME?> menu items. Selecting
<NEW?> will clear the current field trajectory data and start a new field in memory. Selecting
<RESUME?> will retain the current field trajectory data and allow you to start guidance using the existing data. CenterLine (Draft Users Guide) CenterLine Real-Time Operation 27 CenterLine Software Version 1 Real-time Operation Once <NEW?> or <RESUME?> has been selected real-time guidance will begin. At this stage you should have your GPS receiver properly connected to the CenterLine lightbar and running. See CenterLine Product Kits on page 8 for diagrams on how your DGPS receiver should be con-
nected. The default guidance mode will be Headland. While in Headland mode you will also be able to Mark A and B points for Parallel mode. The current guideline information is stored with the fields trajectory data and is lost when <NEW?> is selected and retained when <RESUME?> is selected. Only information for a single guideline is stored. Real-time Menu During real-time operation you will have access to a real-time menu (Figure 29) that allows you to switch between guidance patterns, mark and A and B points for straight-line guidance, start a new A-B line and exit. The real-time menu is accessed by pressing Up or Down during guidance oper-
ation. Once either of these keys is pressed, the guidance messages displayed in the text window are replaced by the real-time menu (Figure 29). Use Up and Down to scroll through the menu and press Enter to select an item. The real-time menu will time out after 5 seconds has passed and no arrow keys have been pressed. Marking A and B Locations The Straight-line guidance mode requires a reference guideline to guide the vehicle along. Estab-
lishing a guideline involves marking two points along the reference guideline. To establish this ref-
erence guideline using the real-time menu, use Up or Down to scroll in the menu until <NEW AB?> is displayed in the lightbar (Figure 30). Press Enter. The menu item <MARK A> should now be displayed. Mark the A location by pressing Enter. The menu item <MARK B> will now be dis-
played. To mark the B location, press Enter. The reference guideline is now established and the lightbar should display <NEW AB?>. Figure 30: The Mark A Mark B Sequence Switching between Guidance Modes There may be situations where you will need to switch between guidance modes. Typically an operator will make one or more passes of the fields headland area in the Headland guidance mode. While driving the headlands, the operator may mark the A and B guideline points that will be used when switching modes. Once the headlands are completed, the operator will switch to the Straight-line mode, and complete the field in a back and forth fashion. To switch between guidance modes, scroll the real-time menu (Figure 29) until <HEADLAND> or
<STRAIGHT> appear in the text window. If <STRAIGHT> is displayed, this indicates that the cur-
rent mode is Straight-line guidance. Pressing Enter will switch you to the Headland guidance mode and the text window will display <HEADLAND>. 28 CenterLine (Draft Users Guide) CenterLine Real-Time Operation CenterLine Software Version 1 Area Determination The area of the job or field you are working is important information. CenterLine allows you to determine the area of a field by driving the perimeter of the field. This is conveniently done while driving the first headland circuit in Headland mode. To determine the area of a field, scroll the real-time menu until <AREA> is displayed (Figure 31). Press Enter. Lightbar will display <LEFT> or <RIGHT>. Select the side of your swath or implement that will be closest to the field boundary, using Up or Down. Press Enter when you want to start area calculation. The lightbar will display <CLOSE>. Press Enter when you want to close the boundary and determine the area. Pressing <CLOSE> will insert a line between the starting loca-
tion and the end location and use that shape to determine area. The area will be automatically determined when the vehicle drives within 4.5 meters (15 feet) of the starting point. The bounded area will be displayed on the lightbar as a part of the guidance message stream for three minutes. Figure 31: Area Determination Flow Diagram Return to Point CenterLine allows you to mark a point in the field that you will want to return to later in time. Typically the Return to Point feature is used to mark where you are stopping guid-
ance and want to start in the same location and in the same direction at a later time. This Return to Point location is stored with the fields trajectory data and is lost when <NEW?>
is selected and retained when <RESUME?> is selected. There is a specific Return to Point key located on the wireless remote, see Figure 4. This key works in toggle fashion, press it once to mark the point, press it again to navigate back to the point. You can stop the navigation process by pressing ESC. Once Return to Point is pressed again
(third time) the old location is replaced with the current vehicle location. CenterLine (Draft Users Guide) CenterLine Real-Time Operation 29 CenterLine Software Version 1 Exiting Real-time Operation To exit guidance scroll with Up or Down in the real-time menu until <EXIT?> is displayed, (Figure 32), in the text window. Press Enter. This will stop real-time operation and take you back to the main menu. Figure 32: Exit in Display 30 CenterLine (Draft Users Guide) CenterLine Real-Time Operation CenterLine Software Version 1 Headland Guidance Operation This section describes how to operate CenterLine in the Headland guidance mode. The Headland mode is selected when the operator wants to drive several circuits around the field boundary and be guided around all circuits that occur after the first circuit. Once several headland circuits have been completed, the operator then has the option of switching to the Straight-line mode. The Headland pattern is also selected when a user wants to do product application on terraced fields. In the Headland curved guidance pattern, the operator can pull along side any previous applied swath and be guided parallel to that swath. To select the Headland Guidance mode, scroll with Up or Down in the real-time menu until
<HEADLAND> or <STRAIGHT> is displayed on the lightbar. If <HEADLAND> is displayed then you are already in Headland mode. If <STRAIGHT> is displayed, press Enter. This will switch the guidance mode from Straight-line to Headland. Reference Guideline While operating in the Headland mode, the user has the option to mark the A and B points of the reference guideline used in the Straight-line Guidance mode. This feature makes it easier for the operator to Mark the A and B points while in Headland mode applying the headlands. It is always best to mark the A and B points for the Straight-line mode while driving along a straight edge of a field. More more detail on how to establish a reference guideline see Marking A and B Locations on page 28. The operator will remain in the Headland mode until the guidance mode is changed using the real-
time menu, see Switching between Guidance Modes on page 28. The reference guideline is only required for the Straight-line mode. Headland Pattern Example In this example the operator wants to apply two headland passes to the field and then switch to Straight-line mode and apply the remainder of the field with straight-line parallel swath guidance. After the first headland circuit the operator will pull parallel to the first circuit swath and begin applying the second circuit while being guided parallel to the first circuit. Figure 33 shows the operator just finishing the first headland circuit. Once the operator pulls along side the first headland circuit, curved guidance will automatically start. The operator will now be able to drive the second headland circuit parallel to the first circuit by following the guidance infor-
mation displayed on the lightbar. Figure 34 shows the operator being guided along side the initial headland circuit. The lightbar automatically supplies guidance information. For more details on how to interpret curved guidance information on the lightbar see Headland Mode Lightbar Graphics on page 35. Figure 35 shows the operator continuing to drive around the second headland circuit. CenterLine (Draft Users Guide) CenterLine Real-Time Operation 31 CenterLine Software Version 1 Figure 33: Completing the First Headland Circuit Figure 34: Starting the Second Headland Pass 32 CenterLine (Draft Users Guide) CenterLine Real-Time Operation CenterLine Software Version 1 Figure 35: Continuing Around the Second Circuit. Switching from Headland to Straight-line Mode Once the operator has completed the desired number of headland circuits, two circuits in our cur-
rent example, he can switch to the Straight-line Guidance mode and apply the remainder of the field in a straight back and forth fashion. To switch from the Headland Pattern to another pattern see Switching between Guidance Modes on page 28. If the operator is being guided along a curved path when the pattern is switched, the lightbar will no longer guide them along the curved path. If a reference guideline was established while in the Headland Guidance mode, CenterLine will automatically guide the vehicle along the closest parallel line as soon as the operator switches to the Straight-line mode. If a reference guideline was not established during the Headland mode, then the operator will need to mark the A B points. The lightbar will display the <MARK A> mes-
sage, indicating that no reference guideline exists. Figure 36 shows the operator applying product in Straight-line mode. Because a reference guide-
line was established during the curved guidance process, the user can immediately start straight-
line guidance as soon as they press the guidance mode button. CenterLine (Draft Users Guide) CenterLine Real-Time Operation 33 CenterLine Software Version 1 Figure 36: Switched from Headland Mode to Straight-line Mode. Figure 37: Completed Field Application Figure 37 shows the completed field, notice there are several areas of the field where the operator turned spray off to avoid double application on previously applied areas. 34 CenterLine (Draft Users Guide) CenterLine Real-Time Operation CenterLine Software Version 1 Headland Mode Lightbar Graphics CenterLines Headland mode guidance technique employs a lightbar text display graphic that will aid the operator when navigating parallel to a curved swath. The X-Track LED functionality that is employed in Straight-line mode is also employed when driving in Headland mode. A projected swath-path graphic is displayed in the text display area of the lightbar, see Figure 38. This projected path is made up of four horizontal bars. The bottom bar is closest to the vehicle and the top bar is the path furthest away. The width of the bars decrease as they move away from the vehicle, this adds a perspective view to the path ahead of the vehicle. The projected distance the first bar is away from the vehicle is based on the vehicle speed. The lightbar in Figure 38 informs the user to drive straight, and there are no turns approaching. In Figure 39 the lightbar indicates the vehicle is approaching a turn to the right. The X-Track LEDs indicate that the vehicle is slightly to the right of the guideline. Lightbar X-Track LEDs were set up in Swath mode, therefore the user will need to correct to the left to get back on line. The X-Track LEDs do not provide any information relating to the curved path ahead of the vehicle, they only indicate where the vehicle is with respect to the guideline at the current vehicle location. Figure 38: Curved Guidance Lightbar Graphics Figure 39: Right-Hand Turn Ahead CenterLine (Draft Users Guide) CenterLine Real-Time Operation 35 CenterLine Software Version 1 Straight-line Guidance Operation The Straight-line guidance mode will provide vehicle guidance along straight lines based off a ref-
erence guideline. The first step is to establish the reference guideline. This reference guideline is used to calculate all other parallel guidelines. See Marking A and B Locations on page 28 for more detail on how to establish a reference guideline. To mark the initial point A, begin driving along the first swath path, typically this would be along a straight edge of a field boundary. While the vehicle is driving along the initial swath, the lightbar will display <MARK A>. Once the center of the vehicle is over the A location, press Enter, this will establish the guideline point A. The lightbar will now display <MARK B>. The next step is to establish guideline point B. To estab-
lish guideline point B press Enter when the center of the vehicle is over the Mark B location. This establishes the reference guideline. The lightbar will begin displaying LED cross-track guidance information as well as any user selected messages defined in Lightbar setup. Once the reference guideline is established, the operator can begin driving straight-line guidance. The CenterLine software will detect which guideline is closest to the centerline of the vehicle and provide guide information with respect to that line. As the vehicle works its way across the field,
(Figure 40), new guidelines parallel to the reference guideline are established based on the swath width value entered in Guidance setup. Figure 40: Working a Field in the Straight-line Guidance Mode 36 CenterLine (Draft Users Guide) CenterLine Real-Time Operation CenterLine Software Version 1 Applied Area Detection CenterLine allows you to detect when the vehicle has entered a previously applied area. To use applied area detection the Lightbar Setup - Alarm menu field needs to be setup prior to starting guidance. See Alarm on page 17 of this User Guide for more details on how to set up this menu field. Detecting A Previously Applied Area Figure 41 shows how previously applied area detection works. As the vehicle enters a previously applied area, the lightbar displays the message APPLIED. If the vehicle continues to apply product while driving in a previously applied area the console alarm will sound. If product application is turned off while in a previously applied area the alarm will not sound. Once the vehicle exits the previously applied area the APPLIED message stops displaying. Figure 41: Applied Area Detection in Headlands Detecting Neighboring Swath Applied area detection will notify the user if the vehicle crosses into a previously applied neighbor-
ing swath. Figure 42 shows an Applied Area Overlap example. The vehicle can overlap up to 25%
of the Swath Width with out being notified. Once the edge of the vehicle swath overlaps 25% or more into a neighboring swath the lightbar will display <APPLIED>. The alarm will sound only if product application continues. CenterLine (Draft Users Guide) CenterLine Real-Time Operation 37 CenterLine Software Version 1 Figure 42: Applied Area Overlap in Neighboring Swath 38 CenterLine (Draft Users Guide) CenterLine Real-Time Operation CenterLine Software Version 1 Lightbar Index The CenterLine lightbar is capable of displaying a considerable amount of information to the user. This information can be represented as text in the display window, illuminated cross track LEDs or a combination of text and lights. Information displayed on the lightbar depends on both user defined settings and system warnings not controlled by the user. Table 13 describes each possible lightbar state and possible information that could be displayed. Lightbar State Description Mark A: Displayed when establishing the guidance point A of the reference guideline. Mark B: Displayed when establishing the guidance point B of the reference guideline. Swath #: A user selected lightbar message. When not on the initial guideline the first character is either L or R for Left and Right of the initial guideline. The number identifies how many lines left or right of the initial guide-
line. X-Track Error: A user defined lightbar message. This cross track error message is displayed when the vehicle is on the guideline and there is no error. X-Track Error: A user defined lightbar message. In this example the operator should steer to the left 2.3 ft.
(Assuming the system unit is set to US and Lightbar is set to Swath mode.) Table 13: CenterLine Lightbar Index CenterLine (Draft Users Guide) Lightbar Index 39 CenterLine Software Version 1 Lightbar State Description Ground Speed: A user defined lightbar message indicat-
ing the vehicle speed in Miles per Hour (MPH). System unit is set to US. Ground Speed: A user defined lightbar message indicat-
ing the vehicle speed in Kilometers per Hour (KPH). System unit is set to Metric. Course on Ground (COG): A user defined lightbar mes-
sage indicating the vehicles heading in degrees 0 to 359. The example to the left indicates the vehicles course on the ground is due South (180 degrees). Area Applied: A user defined lightbar message indicat-
ing the current amount of area applied in Acres. System unit set to US. Area Applied: A user defined lightbar message indicat-
ing the current amount of area applied in Hectares. Sys-
tem unit set to Metric. Applied Area Detection: This message is displayed when the vehicle is with in a previously applied area. Note the Red stop lights are illuminated. At this point an alarm should sound. See Applied Area Detection on page 37. Table 13: CenterLine Lightbar Index 40 CenterLine (Draft Users Guide) Lightbar Index CenterLine Software Version 1 Lightbar State Description Curved guidance information graphics. The four hori-
zontal bars in the text display represent a perspective view of the swath ahead of the vehicle. The bars will skew left or right to represent the curved path ahead. Mapping Boundary: This message is displayed when the user is mapping the field boundary. The arrow sym-
bol on the left indicates the field boundary is on the left side of the vehicle. Mapping Boundary: This message is displayed when the user is mapping the field boundary. The arrow sym-
bol on the right indicates the field boundary is on the right side of the vehicle. System Warning: The message is displayed when there is loss of differential GPS corrections. Guidance calcula-
tions are stopped until differential corrections resume. System Warning: This message is displayed when there is a complete loss of GPS signal to the GPS receiver or Smartpad. Guidance calculations are stopped until DGPS signal resumes. Lightbar Version Message: This message is displayed when the user starts up CenterLine or runs the Lightbar Test. This number will vary and is based on lightbar ver-
sion and model. Table 13: CenterLine Lightbar Index CenterLine (Draft Users Guide) Lightbar Index 41 CenterLine Software Version 1 42 CenterLine (Draft Users Guide) Lightbar Index
frequency | equipment class | purpose | ||
---|---|---|---|---|
1 | 2003-03-12 | 433 ~ 433 | DSC - Part 15 Security/Remote Control Transmitter | Original Equipment |
app s | Applicant Information | |||||
---|---|---|---|---|---|---|
1 | Effective |
2003-03-12
|
||||
1 | Applicant's complete, legal business name |
Midwest Technologies Illinois, LLC
|
||||
1 | FCC Registration Number (FRN) |
0007541626
|
||||
1 | Physical Address |
2864 Old Rochester Road
|
||||
1 |
Springfield, Illinois 62703
|
|||||
1 |
United States
|
|||||
app s | TCB Information | |||||
1 | TCB Application Email Address |
d******@elitetest.com
|
||||
1 | TCB Scope |
A1: Low Power Transmitters below 1 GHz (except Spread Spectrum), Unintentional Radiators, EAS (Part 11) & Consumer ISM devices
|
||||
app s | FCC ID | |||||
1 | Grantee Code |
QS7
|
||||
1 | Equipment Product Code |
CL7850107
|
||||
app s | Person at the applicant's address to receive grant or for contact | |||||
1 | Name |
W******** R********
|
||||
1 | Title |
Technical Director
|
||||
1 | Telephone Number |
217-7********
|
||||
1 | Fax Number |
217-7********
|
||||
1 |
w******@mid-tech.com
|
|||||
app s | Technical Contact | |||||
n/a | ||||||
app s | Non Technical Contact | |||||
n/a | ||||||
app s | Confidentiality (long or short term) | |||||
1 | Does this application include a request for confidentiality for any portion(s) of the data contained in this application pursuant to 47 CFR § 0.459 of the Commission Rules?: | Yes | ||||
1 | Long-Term Confidentiality Does this application include a request for confidentiality for any portion(s) of the data contained in this application pursuant to 47 CFR § 0.459 of the Commission Rules?: | No | ||||
if no date is supplied, the release date will be set to 45 calendar days past the date of grant. | ||||||
app s | Cognitive Radio & Software Defined Radio, Class, etc | |||||
1 | Is this application for software defined/cognitive radio authorization? | No | ||||
1 | Equipment Class | DSC - Part 15 Security/Remote Control Transmitter | ||||
1 | Description of product as it is marketed: (NOTE: This text will appear below the equipment class on the grant) | Remote Control Transmitter | ||||
1 | Related OET KnowledgeDataBase Inquiry: Is there a KDB inquiry associated with this application? | No | ||||
1 | Modular Equipment Type | Does not apply | ||||
1 | Purpose / Application is for | Original Equipment | ||||
1 | Composite Equipment: Is the equipment in this application a composite device subject to an additional equipment authorization? | No | ||||
1 | Related Equipment: Is the equipment in this application part of a system that operates with, or is marketed with, another device that requires an equipment authorization? | No | ||||
1 | Is there an equipment authorization waiver associated with this application? | No | ||||
1 | If there is an equipment authorization waiver associated with this application, has the associated waiver been approved and all information uploaded? | No | ||||
app s | Test Firm Name and Contact Information | |||||
1 | Firm Name |
Elite Electronic Engineering Co.
|
||||
1 | Name |
D****** C****
|
||||
1 | Telephone Number |
630-4********
|
||||
1 | Fax Number |
630-4********
|
||||
1 |
d******@elitetest.com
|
|||||
Equipment Specifications | |||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Line | Rule Parts | Grant Notes | Lower Frequency | Upper Frequency | Power Output | Tolerance | Emission Designator | Microprocessor Number | |||||||||||||||||||||||||||||||||
1 | 1 | 15.231 | 433.00000000 | 433.00000000 |
some individual PII (Personally Identifiable Information) available on the public forms may be redacted, original source may include additional details
This product uses the FCC Data API but is not endorsed or certified by the FCC