TeeJet CenterLine User Manual v1.05

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CenterLine

U s e r G u i d e

98-05054

USER GUIDE

Software Version 1.05

98-05054

CenterLine

Software Version 1.05

Copyrights

© 2002 Midwest Technologies Illinois, LLC. All rights reserved. No part of this document or the computer programs described in it may be reproduced, copied, photocopied, translated or reduced in any form or by any means, electronic or machine readable, recording or otherwise, without prior written consent from Midwest Technologies.

Trademarks

Unless otherwise noted, all other brand or product names are trademarks or registered trademarks of their respective companies or organizations.

Limitation of Liability

MIDWEST TECHNOLOGIES ILLINOIS, LLC PROVIDES THIS MATERIAL “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED. NO COPYRIGHT LIABILITY OR PATENT IS ASSUMED. IN NO EVENT SHALL MIDWEST TECHNOLOGIES BE LIABLE FOR ANY LOSS OF BUSINESS, LOSS OF PROFIT, LOSS OF USE OR DATA, INTERUPTION OF BUSINESS, OR FOR INDIRECT, SPECIAL, INCIDENTIAL, OR CONSEQUENTIAL DAMAGES OF ANY KIND, EVEN IF MIDWEST TECHNOLOGIES HAS BEEN ADVISED OF SUCH DAMAGES ARISING FROM TEEJET SOFTWARE.

CenterLine

Software Version 1.05

Table of Contents

Introduction........................................................................................................................2

About CenterLine ..........................................................................................................2

What’s new in Version 1.05 ..........................................................................................3

Corrections to the Ver. 1.0 User Guide .........................................................................3

About this User‘s Guide ................................................................................................4

Wireless Remote Control...............................................................................................6

CenterLine Lightbar.......................................................................................................7

CenterLine Quick Start-up ...............................................................................................8

General Start-up Sequence.............................................................................................8

First Time Start-up Sequence ........................................................................................8

CenterLine Product Kits ...................................................................................................9

CenterLine Kit without DGPS Receiver........................................................................9

CenterLine Kit with RX 360p WAAS DGPS Receiver ..............................................10

CenterLine Kit with RX 350p WAAS DGPS Receiver ..............................................11

CenterLine with RX 400p DGPS Receiver .................................................................12

CenterLine Setup .............................................................................................................13

Guidance Setup ............................................................................................................14

Lightbar Setup..............................................................................................................19

System Setup................................................................................................................24

CenterLine Setup Flow Diagram .................................................................................26

Tools ..................................................................................................................................27

Receiver .......................................................................................................................27

Lightbar........................................................................................................................28

CenterLine Real-Time Operation ..................................................................................29

Starting Real-time Operation .......................................................................................29

Real-time Operation.....................................................................................................30

Real-time Menu ...........................................................................................................30

Return to Point .............................................................................................................33

Exiting Real-time Operation ........................................................................................33

Headland Guidance Operation.....................................................................................34

Straight-line Guidance Operation ................................................................................40

Applied Area Detection ...............................................................................................41

Lightbar Index .................................................................................................................43

iii

CenterLine

Software Version 1.05

CenterLine

A lightbar guidance system with wireless remote control.

Software Version 1.05

CenterLine

ESC

CenterLine

DOWN

CenterLine

Midwest Technologies IL, LLC

CenterLine

Software Version 1.05

Introduction

About CenterLine

CenterLine is a low-cost lightbar guidance system, controlled by a wireless remote. CenterLine provides 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 combination Beacon/WAAS or WAAS only DGPS receiver, providing sub-meter, pass to pass, positioning accu racy. The wireless remote control is used to set-up and operate the system through menus and options displayed on the lightbar.

CenterLine‘s 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 guides along swaths of all kinds with sub-meter, pass to pass, accuracy. Select the driving pattern and CenterLine determines the closest swath to follow. There‘s no need to decide a guidance pattern ahead of time, or to commit to a pattern for the entire job. Centerline allows the switching of patterns in real-time, determining when a new pattern is being used and keeping the operator informed of the current status.

Wireless Remote Control Unit

CenterLine‘s ergonomic, handheld, remote control is easier to use than most TV remotes. Seven easy to read keys allow the scrolling of menus displayed on the lightbar. The remote keypad is backlit for night-time operation, and 3 AAA batteries (included) powers the unit for an entire sea son.

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 a choice of guidance information. It also warns when an area of the field is entered that has already been applied. Guidance text information can be turned off, if preferred. 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.

CenterLine

Introduction

CenterLine

Software Version 1.05

What‘s new in Version 1.05

• The lightbar is now 15% brighter. This makes the lightbar display easier to read in bright sunlight.

• A new lightbar display option has been added. The Steer Bar option makes the LED steering display easier to see (See —Lightbar Setup“ on page 19).

• All text messages (not warnings, alarms, or guidance info) are now displayed for 15 seconds when first enabled (See —Text 1 and Text 2“ on page 20).

• The Applied! message is displayed when crossing into an applied area, even if application is turned off (See —Applied Area Detection“ on page 41).

• The Bounded Area is now displayed when stopped in an applied area (See —Area Determination“ on page 31).

• Í©È now appears in the lightbar text display to confirm that the —Return To Point“ button was pressed (See —Return to Point“ on page 33).

• In —Return to Point“ mode, no active text messages are displayed (only error messages) (See —Return to Point“ on page 33).

• —Return To Point“ mode now works in swath mode as well as headland mode.

•The Exit? message is now displayed to confirm desire to exit the guidance function (See —Exit- ing Real-time Operation“ on page 33).

• A —Hollow“ path is now displayed:

• in Headland Mode, during the first headland pass, to indicate that no guidance information

is available yet (See —Headland Guidance Operation“ on page 34).

• during Straight Mode when the distance to the previously applied area is too far to deter-

mine a guidance path (See —Straight-line Guidance Operation“ on page 40).

• X-Track information is now displayed in Headland Mode (See —Headland Guidance Operation“ on page 34).

Corrections to the Ver. 1.0 User Guide

• Clarification of the connection of the Implement Status line (See —Status“ on page 17).

• Corrected Setup Flow Diagram (Added —Steer Bar) (See —CenterLine Setup Flow Diagram“ on page 26).

• Correction of the Receiver GPS Status messages (See —Receiver“ on page 27).

• Corrected Real-Time Operation Flow Diagram ( Corrected default mode to —Straight“, changed —Boundary“ label to —Area“, added —Apply Off?“ and —Apply On?“) (See Figure 30 on page 29).

• Clarification of default guidance mode (See —Real-time Operation“ on page 30).

• Added description of —Apply On/Off (See —Apply On/Off“ on page 30).

CenterLine

Introduction

CenterLine

Software Version 1.05

About this User’s Guide

This is revision 2 of the CenterLine user‘s guide and covers CenterLine software versions 1.05 to

1.99. Some software versions may come with a supplement to this user‘s guide.

Menu Items and Pick List Text

Throughout this user‘s guide, menu item text is displayed between the <> characters, For example, <START>. Keys on the remote (See Figure 4 on page 6) are denoted in bold italics, such as Enter.

Most of the figures in this user‘s guide are of menu items that are displayed in the text window of the lightbar (See Figure 5 on page 7). This text represents either a menu item, such as <GUID ANCE> or a pick-list item, such as <METRIC>. The lightbar text window can display a single line of text up to ten characters long. Figure 1 shows an example of a single text line that would be dis played on the lightbar.

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 the Up and Down arrow keys can be used to scroll between <START>, <SETUP>, and <TOOLS>. If the Enter key on the remote is pressed, the display moves to the <GUIDANCE> setup menu item. This figure also shows that, from the <GUIDANCE> menu item, it is possible to scroll between the <GUIDANCE>, <LIGHTBAR>, and <SYSTEM> setup menus using the Up and Down arrow keys.

Figure 2: Displaying Multiple Text Lines

CenterLine

Introduction

CenterLine

Software Version 1.05

Menu Items Next and To Start

There are two additional menu items that are found in almost every menu; <NEXT> and <TO START>. Figure 3 shows the <NEXT> and <TO START> menu items in the System Setup menu list. Pressing Enter at <NEXT> brings up the next menu heading. As an example, pressing Enter at <NEXT>, while in Lightbar setup, brings up <SYSTEM>. In the same example, pressing ESC at <NEXT> brings up the <LIGHTBAR> menu Item. Selecting <TO START> automatically goes back to the <START> menu. From here real-time guidance can be started. Using <TO START> is useful when it is necessary to quickly change one setting and then go right back into real-time operation.

Figure 3: Next and To Start Menu Items

Software Components

CenterLine software can be broken into three components: Setup (See —CenterLine Setup“ on page 13), Real-Time (See —CenterLine Real-Time Operation“ on page 29), and Tools (See —Tools“ on page 27). Setup allows the configuring of the CenterLine to best suit the current needs, and the Real-Time component handles all of the real-time guidance operations. The Tools component pro vides basic diagnostics for the lightbar and the attached GPS receiver.

CenterLine

Introduction

CenterLine

Software Version 1.05

Wireless Remote Control

General Operation

Operation of CenterLine software is via remote keypad input and menu items displayed in the text display area (See Figure 5) of the CenterLine lightbar. The Up and Down arrow keys are used to scroll through menus, sub-menus, and pick lists. The Enter key is used to enter menus and 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 conditions: (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

Introduction

CenterLine

Software Version 1.05

CenterLine Lightbar

CenterLine

Figure 5: The CenterLine Lightbar

Lightbar Specifications

Housing Material: ABS/Poly carbonate alloy construction.

Dimensions: 3.70“H x 9.40“W x 3.80“D (95 mm x 240 mm x 100 mm)

Weight: 0.8 lbs (0.36 kg)

Processor: Intel StrongARM

MEMORY: 16 MB Ram, 2 MB Flash

LEDs: High-lumen red, yellow, 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 433 MHz. FCC part 15 and Industry Canada

RSS-210 certified. Other certifications pending.

Mounting: Mounting bracket supplied. Magnetic and suction mounts are optional.

CenterLine 7

Introduction

CenterLine

Software Version 1.05

CenterLine Quick Start-up

The following section assumes that your CenterLine hardware has been properly set up. See —CenterLine Product Kits“ on page 9 - 12 for information on how to configure the system.

General Start-up Sequence

• Apply power to CenterLine.

• Lightbar performs a start up sequence.

• Lightbar displays current software version.

• Lightbar displays <START>.

• <START> display should remain until Enter is pressed to start real-time guidance or the Start menu is scrolled, 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 displays current software version.

• Lightbar displays <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

CenterLine Quick Start-up

CenterLine

Software Version 1.05

CenterLine Product Kits

CenterLine Kit without DGPS Receiver

CenterLine Lightbar

CenterLine

A GPS data cable is

required but not provided in kit.

ESC

DOWN

CenterLine

BRIGHT

DIM

CenterLin

CenterLine

Power Cable

12'

5 Amp

Battery

CenterLine

Wireless Remote

Boom Sense -

e s n

e S

Acc

+12V when booms are ON Ignition Sense -

+12V when ignition is ON

Power Cable

12'

Figure 6: CenterLine without DGPS Receiver

CenterLine

CenterLine Product Kits

CenterLine

Software Version 1.05

CenterLine Kit with RX 360p WAAS DGPS Receiver

CenterLine Lightbar

CenterLine

ESC

DOWN

CenterLine

GPS Data Cable

16'

BRIGHT

DIM

CenterLine

Wireless Remote

RX 360p

GPS Receiver

Figure 7: CenterLine Kit with RX360p WAAS DGPS Receiver

CenterLine

Power Cable

12'

5 Amp

Battery

Boom Sense -

s n e

Acc

Bat

+12V when booms are ON Ignition Sense -

+12V when ignition is ON

Power Cable

12'

CenterLine

CenterLine Product Kits

CenterLine

Software Version 1.05

CenterLine Kit with RX 350p WAAS DGPS Receiver

CenterLine Lightbar

CenterLine

RX 350p

GPS Receiver

CenterLin

MENU ESC

1 Amp

10'

CenterLine GPS

Data Cable

15'

DOWN

CenterLine

BRIGHT

DIM

CenterLin

CenterLine

Power Cable

12'

5 Amp

Battery

CenterLine

Wireless Remote

Boom Sense -

s n e

Acc

+12V when booms are ON Ignition Sense -

+12V when ignition is ON

Power Cable

12'

Figure 8: CenterLine with RX 350p WAAS DGPS Receiver

CenterLine Product Kits

CenterLine

Software Version 1.05

CenterLine with RX 400p DGPS Receiver

CenterLine Lightbar

CenterLine

ESC

CenterLine

BRIGHT

DIM

CenterLine

Wireless Remote

CenterLine

Power lead

not used

Inline Fuse

11/2 Amp

Red

Flying Leads

RX 400p

GPS Receiver

& Antenna

RX 400p

Lat 5100.120 N+

Lon 1

ID-TECH

Blk

CenterLine

Power Cable

12'

se en

igh

iffe

rentia

202.250 WH

Midwest Technologies, Inc.

ccu

l G

ece

ive

ENTER

5 Amp

CenterLine

Battery

GPS Data Cable

15'

Figure 9: CenterLine with RX 400p DGPS Receiver

Boom Sense +12V when booms are ON

Ignition Sense +12V when ignition is ON

Power Cable

12'

CenterLine

CenterLine Product Kits

CenterLine

Software Version 1.05

CenterLine Setup

CenterLine Setup allows the configuring of the CenterLine product to best suit the current guidance and mapping needs. For the complete overview of the Setup process see "CenterLine Setup Flow Diagram,“ on page 26. CenterLine Setup has three sub-menus: <GUIDANCE>, <LIGHT BAR>, 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 and press Enter. When in Setup, scroll through the setup menu list, <GUIDANCE>, <LIGHTBAR>, and <SYSTEM>, and select the desired setup menu by pressing Enter (See Figure 10).

Figure 10: CenterLine Setup Flow

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Guidance Setup

Guidance setup allows the set up of several parameters that pertain to guidance functionality. Currently there are four guidance settings (see Figure 11).

To access Guidance setup from the Setup menu, scroll until the text window displays <GUIDANCE>, and 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

Width 30.0 feet (10 meters) Required

Antenna -Direction None Recommended

Antenna - Distance 0.0 ft. Recommended

Status Detect Off Optional

Alarm Off 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 are listed under this Antenna sub-menu. The offset distance and direc tion (See Figure 16) can be set from these menu items.

Change at 1st Time Start Up

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

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 reduces skips. Setting this width slightly larger than the actual width reduces overlap.

To set the Width setting, go to <GUIDANCE>, scroll with Up or Down until <WIDTH> is displayed, and press Enter. To increase the width press Up; to decrease the width press Down. Press Enter when 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 (See Figure 16). The two Antenna menu settings are Direction and Distance.

To enter the Antenna sub-menu, go to <GUIDANCE>, scroll until <ANTENNA> is displayed in the text window, and press Enter. As mentioned there are two settings under Antenna: <DIRECTION> and <DISTANCE>. The text window should display <DIRECTION>. Use Up or Down to move between the <DIRECTION> and <DISTANCE> settings. Press Enter when the desired setting is in the text window.

Figure 13: Accessing the Antenna Sub-Menu

Direction

The Direction setting is the direction from the GPS antenna to the swath or delivery point (See Figure 16).

To change the Direction setting, go to the Antenna sub-menu of Guidance setup, scroll until <DIRECTION> is displayed in the text window, and press Enter. Using Up or Down scroll through the direction pick list (See Figure 14) until the desired direction is displayed in the text window. Press Enter to save the setting and return to the Guidance setup menu.

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

DIRECTION BEHIND

Setting Description

Back The swath or delivery point is behind the GPS receiver on

Forward The swath or delivery point is in front of the GPS receiver on

FORWARD

Figure 14: Setting the Direction to Swath

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 (See Figure 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 and press Enter. To increase the distance press Up; to decrease the distance press Down. Press Enter when the desired distance is displayed.

Figure 15: Setting the Distance to the Swath

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

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 detects whether product delivery is on or off, based on the vehicles product on/off switch. See —CenterLine Product Kits“ on page 9 - 12 for location of status connect (boom sense) wiring.

To set the Status setting, go to Guidance setup, scroll with Up or Down until <STATUS> is displayed in the text window, and 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

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Setting Description

OFF No Status Detect implemented. Default setting.

ON Status detect assumes a single swath centered on the vehi-

cle.

Table 3: Status Settings

Alarm

The <ALARM> setting, when set to ON, notifies the operator when entering a previously applied area. The text window displays <APPLIED> when the implement swath is in a previously applied area of the field.

To set the Alarm setting, go to Guidance setup, scroll until <ALARM> is displayed in the text window, and 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 No applied area detection.

On Applied area detection alarm.

Table 4: Status Detect Settings

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Lightbar Setup

Lightbar setup allows the selection of several parameters related to the lightbar. There are five lightbar settings: Drive Sensitivity <SPACING>, Display Mode <MODE>, two selectable mes sages: <TEXT 1> and <TEXT 2>, and <steer bar?> (See Figure 19 and Table 5).

Figure 19: The Lightbar Setup Flow

Setting Name Default Value

Spacing 1.5 ft. Optional

Mode Vehicle Optional

Text 1 X-Track Error Optional

Text 2 Applied Area Optional

Steer bar? No Optional

Table 5: Lightbar Menu Item Default Settings

Change at 1st

Time Start up

Spacing

The Spacing setting allows the selection of the distance that a single light on the lightbar LEDs represents.

To change the Spacing setting, go to Lightbar setup, 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 when the desired spacing is set. The Spacing range is 0.5 ft. to

9.5 ft., in 0.5‘ increments.

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Figure 20: Setting the LED Spacing

Mode

The Mode setting defines how the row of LEDs are interpreted. 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, scroll until <MODE> is displayed in the text window, and 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 Description

Swath When Display Mode is set to Swath, the center stack of Green LEDs represents the cur-

rent guideline. In this mode, steer the vehicle to bring the moving LED back to center

Vehicle When Display Mode is set to Vehicle, the center stack of Green LEDs represents the

vehicle‘s position. In this mode, steer the vehicle to bring the center lights towards the moving LED.

Table 6: Display Mode Settings

Text 1 and Text 2

The Text 1 and Text 2 settings allow you to select text messages from a set of predetermined guidance information messages. These messages are displayed in the lightbar text window for 15 seconds when first enabled, and cycled through during guidance operations. A maximum of two text messages can be displayed.

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Text 1

To set the Text 1 setting, go to Lightbar setup, scroll using Up or Down until <TEXT 1> is displayed in the text window, and 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.

Figure 22: Selecting the Text 1 Message

Message Description

X-Track Displays the error (in distance) between the current guideline and the vehicle position.

Swath # 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 Course on Ground, displays the vehicle heading in degrees.

Off When Off is selected, no message is displayed in this message slot.

Table 7: Text 1 Options

Text 2

To set the Text 2 setting, go Lightbar setup, scroll using Up or Down until <TEXT 2> is displayed in the text window, and 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 advance to the STEER BAR? menu item.

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Figure 23: Selecting the Text 2 Message

Message Description

X-Track Displays the error (in distance) between the current guideline and the vehicle position.

Swath # 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 Course on Ground, displays the vehicle heading in degrees.

Off When Off is selected, no message is displayed in this message slot.

Table 8: Text 2 Message Options

Steer Bar

The Steer Bar setting determines how the LED steering display appears. The LEDs, representing the vehicle track in relation to the current guideline, can be shown as a single LED or a solid bar (See Table 9).

To change the Steer Bar setting, go to Lightbar setup, scroll until <STEER BAR?> is displayed in the text window, and press Enter. Using Up or Down, scroll through the Steer Bar pick list until the desired setting is displayed in the text window. Press the Enter key to save the setting and return to the <SYSTEM> menu item.

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Figure 24: Setting the Steer Bar Option

Setting Description

Off

The LEDs, representing the vehicle track in relation to the current guideline, are shown as a single LED.

The LEDs, representing the vehicle track in relation to the current guideline, are shown as a solid bar.

Table 9: Steer Bar Settings

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

System Setup

System setup allows the selection of settings that effect the entire CenterLine product. There are only two settings: Units and Language (See Table 10).

Figure 25: System Setup

Setting Name Default Value

Unit US Optional

Language English Optional

Table 10: System Menu Item Default Settings

Change at 1st Time Start Up

Units

System Units allows the selection of either US and Metric units (See Table 11).

To change the System Units, enter System Setup, scroll through the sub-menu list until <UNITS> appears in the text window, and press Enter. Next scroll between the two units choices, <MET RIC> and <US>. When the desired unit is displayed, press the Enter key. The software should bring you back to <UNITS>.

Figure 26: Setting System Units

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Pick List Description

US All units are entered and displayed in Feet, Miles, and Acres. This is the default setting.

Metric All units are entered and displayed in Meters, Kilometers, and Hectares.

Table 11: The Unit Menu Item Settings

Language

CenterLine comes pre-loaded with several languages. To change the system language, enter System Setup, scroll through the sub-menu list until <LANGUAGE> appears in the text window, and 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 return to <LANGUAGE>

Figure 27: Setting the System Language

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

CenterLine Setup Flow Diagram

Figure 28: CenterLine Setup Flow Diagram

CenterLine

CenterLine Setup

CenterLine

Software Version 1.05

Tools

The Tools menu is intended to provide some basic system diagnostics. Tools contains two diagnostic tools: Receiver and Lightbar (See Table 12).

To access Tools from the Setup menu, scroll until the text window displays <TOOLS>, and press Enter. <RECEIVER> should be displayed in the text window. Use Up or Down to scroll through the Tools menu.

Figure 29: The Tools Menu Flow

Menu Item Description

Receiver Checks the status of a connected GPS receiver.

Lightbar Tests the functionality of the CenterLine Lightbar LEDs and

text window.

Table 12: Tools Menu Items

Receiver

The Receiver diagnostic test queries the attached GPS receiver and returns its current configuration and status. This information is displayed in the text window on the lightbar.

To start the Receiver check, go to the Tools menu, scroll until <RECEIVER> is displayed in the text window, and press Enter. The lightbar displays the diagnostic messages shown in Table 13.

CenterLine

Tools

CenterLine

Software Version 1.05

Diagnostic Description

GPS Status If the lightbar is not receiving GPS data, the text window message

DGPS Status If the lightbar is receiving differentialy corrected GPS data, the text

NMEA Strings Returns the name of each NMEA string currently being received from

Data Rate Returns the current receiver data rate. This is typically 5 Hz. The rate

appears as <NO GPS>. If the lightbar is receiving GPS data but no differentialy corrected GPS data, the text window message appears as <GPS>.

window message appears as <DGPS>.

the receiver. As an example if the NMEA GPGGA string is being received from the receiver then the text window displays <GPGGA>.

is displayed in the text window, e.g. <5 HZ> is displayed for the 5 Hertz data rate.

Table 13: Receiver Diagnostic Messages

Lightbar

The Lightbar diagnostic test initiates an illumination sequence of all of the LEDs and the text window, followed by a brightness control sequence. This allows the verification that all lights on the CenterLine lightbar are working properly.

To start the Lightbar check, go to <TOOLS> and press Enter. Scroll with Up or Down until <LIGHTBAR> is displayed in the text window and press Enter. The illumination sequence should start. When test is completed the lightbar displays <END>.

CenterLine

Tools

CenterLine

Software Version 1.05

CenterLine Real-Time Operation

Starting Real-time Operation

This section assumes that the setup section, —CenterLine Setup“ on page 13, has been read and the CenterLine lightbar properly set up.

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. <START> can be easily reached from most menu levels by scrolling to <TO START> and pressing Enter. This jumps to the <START> location from anywhere in the menu structure (See Figure 28).

Figure 30 is a flow diagram of the CenterLine real-time operation and menu.

Figure 30: Real-Time Operation Flow Diagram

New? Resume?

When Enter has been pressed at the <START> location, a prompt to start a new field or resume working in the current field appears. During real-time operation, CenterLine stores the vehicle‘s trajectory data. This allows the operator to stop working in a field before finished and return at a later time, continuing where they left off. Only the current field is stored.

Use Up or Down to scroll between the <NEW?> and <RESUME?> menu items. Selecting <NEW?> clears the current field trajectory data and starts a new field in memory. Selecting <RESUME?> retains the current field trajectory data and allows the start of guidance using the existing data.

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When <NEW?> or <RESUME?> is selected, real-time guidance begins. At this point, the GPS receiver should be properly connected to the CenterLine lightbar and running.

page 9 - 12 for diagrams showing how the DGPS receiver should be connected.

ance mode is Straight-Line Guidance (See note below). The current guideline information is stored, along with the field‘s trajectory data, and is lost when <NEW?> is selected and retained when <RESUME?> is selected. Only information for a single guideline is stored. While in Headland mode, A and B points can be marked for Straight-Line guidance.

NOTE: When the display shows <HEADLAND?>, it is asking if you want to switch to Headland mode from Straight-Line. When the display shows <STRAIGHT?>, it is asking if you want to switch to Straight-Line mode from Headland.

See —CenterLine Product Kits“ on

The default guid-

Real-time Menu

During real-time operation, a real-time menu (See Figure 30 on page 29) is available that allows you to switch between guidance patterns, mark 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 operation. When either of these keys is pressed, the guidance messages displayed in the text win dow are replaced by the real-time menu (See Figure 30 on page 29). Use Up and Down to scroll through the menu and press Enter to select an item. The real-time menu times out when 5 sec onds have passed and no arrow keys have been pressed.

Apply On/Off

If no switchbox or boom sense cable is being used and the <GUIDANCE><STATUS> setting (See —Status“ on page 17) is set to off, Apply On/Off information must be provided to the CenterLine sys tem manually. To toggle the Apply On/Off status, scroll the real-time menu (See Figure 30 on page 29) until <Apply on> or <Apply off> appears in the text window. Pressing Enter switches to the status displayed.

NOTE: This does not turn the application on and off. It only notifies the CenterLine system of the application status. <Apply on> and <Apply off> do not appear if <GUIDANCE><STATUS> is set to ON.

Marking A and B Locations

The Straight-line guidance mode requires a reference guideline to guide the vehicle along. Establishing a guideline involves marking two points along the reference guideline. To establish this reference guideline using the real-time menu, use Up or Down to scroll in the menu until <NEW AB?> is displayed on the lightbar (See Figure 31), and press Enter. The menu item is displayed. Mark the A location by pressing Enter when the desired location is passed. The menu item is now displayed. To mark the B location, press Enter when the desired location is passed. The reference guideline is now established and the lightbar should display <NEW AB?>.

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NEW AB?

MARK A

Figure 31: The Mark A Mark B Sequence

MARK B NEW AB?

Switching between Guidance Modes

There may be situations where it is necessary to switch between guidance modes. Typically an operator makes one or more passes around the field‘s headland area in the Headland guidance mode. While driving the headlands, the operator may mark the A and B guideline points to be used when switching modes. When the headlands are completed, the operator switches to the Straightline mode, and completes the field in a back and forth fashion.

To switch between guidance modes, scroll the real-time menu (See Figure 30 on page 29) until <HEADLAND?> or <STRAIGHT?> appears in the text window. When the desired mode is displayed, press Enter to make it active.

Area Determination

The area of the current job or field is important information. CenterLine allows the determination of the area of a field by driving the perimeter of the field. This can be 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 (See Figure 32 on page 32) and Press Enter. The lightbar displays <LEFT> or <RIGHT>. Using Up or Down, select the side of the swath or implement that is closest to the field boundary. Press Enter

to start area calculation. The lightbar displays <! close the boundary, scroll the real-time menu Figure 30 until <CLOSE> is displayed. Press Enter to close the boundary and determine the area. Pressing <CLOSE> inserts a line between the starting location and the current location and uses that shape to determine area.

Map BND> or <Map BND #>. When ready to

The area is 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 and when stopped in an —applied“ area.

If a bounded area has already been determined, the <VIEW> menu item is present. Pressing Enter at the <VIEW> level displays the current bounded area value.

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Figure 32: Area Determination Flow Diagram

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Return to Point

CenterLine allows the operator to mark a point in the field to return to later in time. Typically the Return to Point feature is used to mark a location when stopping guidance and wanting to start in the same location and in the same direction at a later time. This Return to Point location is stored with the field‘s trajectory data, 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 (the lightbar displays <Í©È>), press it again to navigate back to the point. Stop the navigation process by pressing ESC. When Return to Point is pressed again (third time) the old location is replaced with the current vehicle location.

While operating in the Return to Point mode, no active text messages are displayed except error messages. If the vehicle enters an area that has already been applied, the display alternates between the Return To Point distance and <Applied!>.

Exiting Real-time Operation

To exit guidance, press Esc or scroll with Up or Down in the real-time menu until <EXIT?> is displayed (Figure 33) in the text window and Press Enter. This stops real-time operation and returns to the main menu.

Figure 33: Exit in Display

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Headland Guidance Operation

This section describes how to operate CenterLine in the Headland guidance mode. The Headland mode is used when the operator wants to drive several circuits around the field boundary and be guided around all circuits that occur after the first. When several headland circuits have been com pleted, the operator has the option of switching to the Straight-line mode. The Headland pattern is also used 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 par allel to that swath by the X-Track guidance display.

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 <STRAIGHT?> is displayed then Headland mode is already active. If <HEADLAND?> is displayed, press Enter. This switches 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. For more detail on how to establish a reference guideline see —Marking A and B Locations“ on page 30.

The operator remains in the Headland mode until the guidance mode is changed using the realtime menu (see —Switching between Guidance Modes“ on page 31). 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 pulls parallel to the first circuit swath and begins apply ing the second circuit while being guided parallel to the first circuit.

Figure 34 on page 35 shows the operator just finishing the first headland circuit. When the operator pulls along side the first headland circuit, curved guidance automatically starts. The operator is now able to drive the second headland circuit parallel to the first circuit by following the guidance information displayed on the lightbar.

Figure 35 on page 36 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 38).

Figure 36 on page 36 shows the operator continuing to drive around the second headland circuit.

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Figure 34: Completing the First Headland Circuit

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Figure 35: Starting the Second Headland Pass

Figure 36: Continuing Around the Second Circuit.

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Switching from Headland to Straight-line Mode

When the operator has completed the desired number of headland circuits, two circuits in our current example, the system is switched to Straight-line Guidance mode to 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 31. If the operator is being guided along a curved path when the pattern is switched, the lightbar no longer guides them along the curved path.

If a reference guideline was established while in the Headland Guidance mode, CenterLine automatically guides 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 must mark the A B points. The lightbar displays the message, indicating that no reference guideline exists.

Figure 37 shows the operator applying product in Straight-line mode. Because a reference guideline was established during the curved guidance process, the user can immediately start straightline guidance as soon as the guidance mode button is pressed.

Figure 37: Switched from Headland Mode to Straight-line Mode.

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Figure 38: Completed Field Application

Figure 38 shows the completed field. Notice that there are several areas of the field where the operator turned spray off to avoid double application on previously applied areas.

Headland Mode Lightbar Graphics

CenterLine‘s Headland mode guidance technique employs a lightbar text display graphic that aids 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 39). This projected path is made up of four horizontal bars. The bottom bar represents the path 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 to add a perspective view to the path ahead of the vehicle. The pro jected distance of the first bar from the front of the vehicle is based on the vehicle speed. The lightbar in Figure 39 informs the user to drive straight, and there are no turns approaching. In Figure 40 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 are set up in Swath mode. Therefore the user must 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 vehi cle is with respect to the guideline at the current vehicle location. The lightbar displays a —hollow“ path during the first headland pass to indicate that no guidance information is available yet (The first pass must be completed before a parallel path can be established) (See Figure 41).

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Figure 39: Curved Guidance Lightbar Graphics

Figure 40: Right-Hand Turn Ahead

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Figure 41: Hollow Path

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Straight-line Guidance Operation

The Straight-line guidance mode provides vehicle guidance along straight lines, based on a reference guideline. The first step is to establish the reference guideline. This reference guideline is used to calculate all other parallel guidelines. See —Apply On/Off“ on page 30 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 is along a straight edge of a field boundary. While the vehicle is driving along the initial swath, the lightbar displays . As the vehicle passes over the desired A location, press Enter to establish the guide line point A.

The lightbar now displays . The next step is to establish guideline point B. To do this, press Enter as the vehicle passes over the desired B location. This establishes the reference guideline. The lightbar starts displaying X-Track guidance information as well as any user selected messages defined in Lightbar setup (See See —Lightbar Setup“ on page 19). If the vehicle is too far from the previously applied area to determine guidance information, a —Hollow“ path is displayed (See Figure 41 on page 39).

When the reference guideline is established, the operator can begin driving straight-line guidance. The CenterLine software detects which guideline is closest to the centerline of the vehicle and pro vides guide information with respect to that line. As the vehicle moves across the field (Figure 42) new guidelines, parallel to the reference guideline, are established based on the swath width value entered in Guidance setup.

Figure 42: Working a Field in the Straight-line Guidance Mode

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Applied Area Detection

CenterLine allows the detection of a previously applied area. To use applied area detection, the Lightbar Setup - Alarm menu field must be set up prior to starting guidance. See —Alarm“ on page 18 of this User Guide for more details on how to set up this menu field.

Detecting A Previously Applied Area

Figure 43 shows how previously applied area detection works. As the vehicle enters a previously applied area, the lightbar displays the message APPLIED, even if the application is turned off. When the vehicle exits the previously applied area, the APPLIED message stops displaying.

Figure 43: Applied Area Detection in Headlands

Detecting Neighboring Swath

Applied area detection notifies the user when the vehicle crosses into a previously applied neighboring swath. Figure 44 shows an Applied Area Overlap example. The vehicle can overlap up to 25% of the Swath Width without being notified. Once the edge of the vehicle swath overlaps 25% or more into a neighboring swath, the lightbar displays <APPLIED>.

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Figure 44: Applied Area Overlap in Neighboring Swath

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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 14 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 guideline.

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 that System Units is set to US and Lightbar is set to Swath mode.)

Table 14: CenterLine Lightbar Index

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Lightbar State Description

Ground Speed: A user defined lightbar message indicating the vehicle speed in Miles per Hour (MPH). System Units is set to US.

Ground Speed: A user defined lightbar message indicating the vehicle speed in Kilometers per Hour (KPH). System is Units set to Metric.

Course on Ground (COG): A user defined lightbar message indicating the vehicles heading in degrees 0 to

359. The example to the left indicates the vehicle‘s course on the ground is due South (180 degrees).

Area Applied: A user defined lightbar message indicating the current amount of area applied in Acres. System Units is set to US.

Area Applied: A user defined lightbar message indicating the current amount of area applied in Hectares. System Units is set to Metric.

Applied Area Detection: This message is displayed when the vehicle is within a previously applied area. Note that the Red stop light (far right light) is illuminated. See —Applied Area Detection“ on page 41.

Table 14: CenterLine Lightbar Index

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Lightbar State Description

Curved guidance information graphics. The four horizontal bars in the text display represent a perspective view of the swath ahead of the vehicle. The bars skew left or right to represent the curved path ahead.

Curved guidance information graphics. The path in the text display represents a perspective view of the swath ahead of the vehicle. The —hollow path“ indicates that the vehicle is making the first headland pass and no guidance information is available yet. The path skews 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 symbol on the left indicates the field boundary is on the left side of the vehicle.

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Mapping Boundary: This message is displayed when the user is mapping the field boundary. The arrow symbol 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 calculations 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.

Table 14: CenterLine Lightbar Index

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Lightbar State Description

Lightbar Version Message: This message is displayed when the user starts up CenterLine or runs the Lightbar Test. This number varies and is based on lightbar ver sion and model.

Table 14: CenterLine Lightbar Index

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Lightbar Index

Midwest T echnologies

2864 Old Rochester Road

Springfield, IL 62703

TeeJet CenterLine User Manual v1.05

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Frequently Asked Questions

User Manual