CenterLine User Guide 98-05054
USER GUIDE Software Version 1.
CenterLine Software Version 1.07 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.
CenterLine Software Version 1.07 Table of Contents Introduction........................................................................................................................2 About CenterLine ..........................................................................................................2 What’s new in Version 1.07 ..........................................................................................3 About this User’s Guide ..........................................................
CenterLine Software Version 1.
CenterLine A lightbar guidance system with wireless remote control. Software Version 1.
CenterLine Software Version 1.07 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 accuracy.
CenterLine Software Version 1.07 What’s new in Version 1.07 • The new “Curve AB” guidance mode allows parallel guidance, similar to “Straight” and “Headland” guidance, along curved guide lines (See “Curve AB Guidance Operation” on page 45). • The current (selected) guidance mode is displayed in reverse video and without a “?” in the Real-Time menu, to remove the confusion about which guidance mode is active. (See “Realtime Operation” on page 33).
CenterLine Software Version 1.07 About this User’s Guide This is revision 3 of the CenterLine user’s guide and covers CenterLine software versions 1.07 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, . Keys on the remote (See Figure 4 on page 6) are denoted in bold italics, such as Enter.
CenterLine Software Version 1.07 Menu Items Next and To Start There are two additional menu items that are found in almost every menu; and . Figure 3 shows the and menu items in the System Setup menu list. Pressing Enter at brings up the next menu heading. As an example, pressing Enter at , while in Lightbar setup, brings up . In the same example, pressing ESC at brings up the menu Item.
CenterLine Software Version 1.07 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 submenus, and accept a desired pick-list entry. The ESC key acts as cancel.
CenterLine Software Version 1.07 CenterLine Lightbar CenterLine TM 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.
CenterLine Software Version 1.07 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 .
CenterLine Software Version 1.07 CenterLine Product Kits CenterLine Kit without DGPS Receiver CenterLine Lightbar CenterLine A GPS data cable is required but not provided in kit.
CenterLine Software Version 1.
CenterLine Software Version 1.
CenterLine Software Version 1.07 CenterLine with RX 400p DGPS Receiver CenterLine Lightbar CenterLine Cen ter Lin e UP ME N ES U C DO CenterLine WN BR IGH T ne rLi DIM nte Ce CenterLine Wireless Remote RX 400p High Accuracy MID-TECH Boom Sense +12V when booms are ON Differential GPS Receiver Lat 5100.120 N+ Lon 11202.250 WH Power lead not used CenterLine Power Cable 12' Sen se RX 400p GPS Receiver & Antenna ENTER Midwest Technologies, Inc.
CenterLine Software Version 1.07 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 the "CenterLine Setup Flow Diagram,” on page 28. CenterLine Setup has three sub-menus: , , and . Each is described in detail below. Figure 10 shows the Setup flow. The top level of CenterLine software has three menus to choose from: , , and .
CenterLine Software Version 1.07 Guidance Setup Guidance setup allows the setup 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 , and press Enter. Menu item should be displayed in the text window. Use Up or Down to scroll through the list of Guidance setup menu items.
CenterLine Software Version 1.07 Width The Guidance setup parameter Width is the distance between guidelines. This width is typically the vehicle implement width or spread width. Setting this width slightly smaller than the actual width reduces skips. Setting this width slightly larger than the actual width reduces overlap. To adjust the Width setting, go to , scroll with Up or Down until is displayed, and press Enter. To increase the width press Up; to decrease the width press Down.
CenterLine Software Version 1.07 DIRECTION BEHIND FORWARD Figure 14: Setting the Direction to Swath Setting Description Back The swath or delivery point is behind the GPS receiver on the vehicle along the vehicle center line. Forward The swath or delivery point is in front 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 (See Figure 16).
CenterLine Software Version 1.07 Figure 16: Direction and Distance to Swath from DGPS Receiver Status The 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.
CenterLine Software Version 1.07 Setting OFF Description No Status Detect implemented. Default setting. Table 3: Status Settings ON Status detect assumes a single swath centered on the vehicle. Alarm The setting, when set to ON, notifies the operator when entering a previously applied area. The text window displays when the implement swath is in a previously applied area of the field.
CenterLine Software Version 1.07 GPS Type GPS Type indicates to the CenterLine system whether the GPS receiver is differentially corrected or not. To adjust the GPS Type, go to Guidance setup, scroll until is displayed in the text window, and press enter. Using Up or Down, scroll between the and settings until the desired setting is displayed in the text window. Press Enter to save the setting and return to the Guidance setup menu.
CenterLine Software Version 1.07 1 Hz Msg A 1 Hz data rate is not recommended for vehicle guidance, so a “GPS Slow” message is sent to the lightbar to notify the operator if the GPS receiver is set to a 1 Hz data rate. However, there are some areas where the 1 Hz rate is used. For those areas, we provide the ability to disable the “GPS Slow” message. To turn the “GPS Slow” message on or off, go to Guidance setup, scroll until <1 Hz Msg> is displayed in the text window, and press enter.
CenterLine Software Version 1.07 Lightbar Setup Lightbar setup allows the selection of several parameters related to the lightbar. There are five lightbar settings: Drive Sensitivity , Display Mode , two selectable messages: and , and (See Figure 21 and Table 7). Figure 21: The Lightbar Setup Flow Setting Name Default Value Change at 1st Time Start up Spacing 1.5 ft.
CenterLine Software Version 1.07 Figure 22: 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 8). To change the Mode setting, go to Lightbar setup, scroll until 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.
CenterLine Software Version 1.07 Text 1 To select the Text 1 setting, go to Lightbar setup, scroll using Up or Down until 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 menu item.
CenterLine Software Version 1.07 Text 2 To select the Text 2 setting, go Lightbar setup, scroll using Up or Down until 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 Software Version 1.07 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 11). To change the Steer Bar setting, go to Lightbar setup, scroll until 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.
CenterLine Software Version 1.07 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 12). Figure 27: System Setup Setting Name Default Value Change at 1st Time Start Up Unit US Optional Language English Optional Table 12: System Menu Item Default Settings Units System Units allows the selection of either US and Metric units (See Table 13).
CenterLine Software Version 1.07 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 13: 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 appears in the text window, and press Enter.
CenterLine Software Version 1.07 CenterLine Setup Flow Diagram START SETUP GUIDANCE TOOLS WIDTH 30.0 (Default) ANTENNA DIRECTION FORWARD BACK DISTANCE 0.0 (Default) NEXT STATUS OFF ON ALARM OFF GPS TYPE DGPS ON GPS 1 Hz MSG YES NO NEXT TO START LIGHTBAR SPACING 1.
CenterLine Software Version 1.07 Tools The Tools menu contains several functions to provide some basic system diagnostics (See Table 14). To access Tools from the Setup menu, scroll until the text window displays , and press Enter. should be displayed in the text window. Use Up or Down to scroll through the Tools menu. Figure 31: The Tools Menu Flow Menu Item Description Receiver Checks the status of a connected GPS receiver.
CenterLine Software Version 1.07 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 is displayed in the text window, and press Enter. The lightbar displays the diagnostic messages shown in Table 15.
CenterLine Software Version 1.07 e-Dif Info The “e-Dif Info” function only appears when the CenterLine system detects that an e-Dif GPS receiver is present and calibrated. This receiver diagnostic test queries the attached e-Dif GPS receiver and displays current position information being generated. This information is displayed in the text window on the lightbar. To start the e-Dif diagnostic test, go to the Tools menu, scroll until is displayed in the text window, and press Enter.
CenterLine Software Version 1.07 CenterLine Real-Time Operation Starting Real-time Operation This section assumes that the setup section (See “CenterLine Setup” on page 13) has been read and the CenterLine lightbar properly set up. Start real-time operation by pressing Enter when is displayed in the text window. The menu item is at the highest menu level. can be easily reached from most menu levels by scrolling to and pressing Enter.
CenterLine Software Version 1.07 Real-time Operation Real-time guidance begins when or is selected. At this point, the GPS receiver should be properly connected to the CenterLine lightbar and running. See Figures 7-9 for diagrams showing how the DGPS receiver should be connected. The default guidance mode is Straight-Line Guidance and the current guidance mode is displayed in reverse video.
CenterLine Software Version 1.07 Marking A and B Locations The Straight-line and Curve AB guidance modes require 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 is displayed on the lightbar (See Figure 33), and press Enter. The menu item is displayed.
CenterLine Software Version 1.07 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 is displayed (See Figure 34 on page 35) and Press Enter. The lightbar displays or .
CenterLine Software Version 1.07 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 is selected, and retained when is selected.
CenterLine Software Version 1.07 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 completed, the operator has the option of switching to the Straight-line mode.
CenterLine Software Version 1.
CenterLine Software Version 1.07 Figure 38: Continuing Around the Second Circuit. 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 34.
CenterLine Software Version 1.07 Figure 39: Switched from Headland Mode to Straight-line Mode. Figure 40: Completed Field Application Figure 40 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.
CenterLine Software Version 1.07 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 and Curve AB modes 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 41). This projected path is made up of four horizontal bars.
CenterLine Software Version 1.
CenterLine Software Version 1.07 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 “Marking A and B Locations” on page 34 for more detail on how to establish a reference guideline. To mark the initial point A, begin driving along the first swath path.
CenterLine Software Version 1.07 When making a turn at the end of the field, the lightbar displays the distance to the next swath (see Figure 45). CenterLine 30.0 FT CenterLine 27.2 FT CenterLine 14.
CenterLine Software Version 1.07 Curve AB Guidance Operation The Curve AB guidance mode works similar to Straight-Line mode except it provides vehicle guidance along curved lines, based on a curved reference guideline. The first step is to establish the reference guideline. This reference guideline is used to calculate all other parallel guidelines. See See “Marking A and B Locations” on page 34 for more detail on how to establish a reference guideline.
CenterLine Software Version 1.07 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 “Lightbar Setup” on page 21).
CenterLine Software Version 1.07 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 49 shows how previously applied area detection works.
CenterLine Software Version 1.07 Detecting Neighboring Swath Applied area detection notifies the user when the vehicle crosses into a previously applied neighboring swath. Figure 50 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 .
CenterLine Software Version 1.07 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 17 describes each possible lightbar state and possible information that could be displayed.
CenterLine Software Version 1.07 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.
CenterLine Software Version 1.07 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.
CenterLine Software Version 1.07 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 version and model. CenterLine Ver 1.
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