# How Farm Tractors Automatically Turn at the End of a Row > This patent describes a GPS-guided system for agricultural vehicles that automatically calculates and offers multiple turn options at the end of a crop row, allowing the operator to choose the best path. - **Patent:** US 7747370 - **Original title:** Method for creating end of row turns for agricultural vehicles - **Owner:** CNH Amercia - **Granted:** 2010 - **Status:** Active - **Times cited:** 31 - **Field:** automotive, software, telecommunications, mechanical, ai_ml ## What it does The patent details a method for automatically guiding an agricultural vehicle, like a tractor with an attached implement, through a turn at the end of a crop row. It uses a 'swath generation apparatus' (SGA) which has a computer and memory, connected to a GPS receiver that knows the vehicle's exact location. The SGA calculates at least two different 'end of row turn paths' by repeatedly processing predetermined parameters, such as the vehicle's minimum turning radius and how fast it can change direction, along with the actual position of the vehicle (Claim 1, 2). These calculated paths are defined by many 'interpolated data points' that form a curved, non-linear route (Claim 6). The system then shows these paths to the operator and lets them choose which one to follow, or even manually guide the vehicle (Claim 1, 4). For example, a farmer approaching the end of a field could see two suggested turn paths on a screen, pick the tighter or wider one, and the tractor would steer itself along that path. ## What it does NOT cover - Does not cover systems that only calculate a single, fixed end-of-row turn path without offering the operator a choice between multiple options (Claim 1). - Does not cover turns that are not 'end of row turns' or those that do not connect 'predefined end points of equally spaced swath paths' (Claim 1). - Does not cover vehicle guidance systems that do not use an 'iterative process' to calculate the turn paths based on predetermined parameters and actual vehicle position (Claim 1). - Does not cover systems where the turn path is entirely straight or does not involve 'interpolating data points along a non-linear path that is at least partially curved' (Claim 6). - Does not cover systems that lack an 'operator input device' for communicating parameters or selecting a turn path (Claim 1). ## The clever bit The clever part is the system's ability to dynamically calculate *multiple* distinct end-of-row turn options in real-time, based on the vehicle's specific physical limits and its exact position, and then allow the operator to choose the most suitable path. This provides flexibility that simpler, pre-programmed turn patterns cannot offer. ## Real-world examples 1. John Deere AutoTrac guidance systems 2. Case IH AFS AccuGuide systems 3. New Holland IntelliSteer systems 4. AGCO Fendt Guide systems 5. Precision planting equipment with automated steering ## Why it matters This patent contributes to the automation of precision agriculture, making farming more efficient and less physically demanding for operators. By automatically planning and executing turns, it helps reduce overlap or missed areas in fields, saving fuel, time, and resources. This technology allows large agricultural machines to operate with greater accuracy, which is crucial for maximizing crop yields and minimizing environmental impact. ## Frequently asked questions ### What does How Farm Tractors Automatically Turn at the End of a Row cover? This patent describes a GPS-guided system for agricultural vehicles that automatically calculates and offers multiple turn options at the end of a crop row, allowing the operator to choose the best path. ### Who owns patent US 7747370? CNH Amercia owns this patent, granted in 2010. ### When does this patent expire? This patent is expected to expire on April 3, 2027, when the invention enters the public domain. ### What is patent US 7747370 cited by? This patent has been cited by 31 later patents that build on its ideas. ### What problem does this patent solve? This patent contributes to the automation of precision agriculture, making farming more efficient and less physically demanding for operators. By automatically planning and executing turns, it helps reduce overlap or missed areas in fields, saving fuel, time, and resources. This technology allows large agricultural machines to operate with greater accuracy, which is crucial for maximizing crop yields and minimizing environmental impact. ### What does this patent NOT cover? Does not cover systems that only calculate a single, fixed end-of-row turn path without offering the operator a choice between multiple options (Claim 1). **Full plain-English explainer:** https://patentbrief.org/patent/us/7747370/method-for-creating-end-of-row-turns-for-agricultural-vehicles **Original patent:** https://patents.google.com/patent/US7747370 --- _Source: PatentBrief — https://patentbrief.org. Patent facts are from public records; the plain-English explanation is PatentBrief's._ ## Related patents Semantically similar inventions in the PatentBrief corpus: - [How Farm Vehicles Plant Evenly in Odd-Shaped Fields](https://patentbrief.org/patent/us/8296052/method-for-avoiding-point-rows-for-quadrilateral-fields-using-autoguidance) — This patent describes a smart system for farm vehicles that plans planting paths in fields with non-parallel sides, automatically turning off parts of the planter to avoid wasting seeds by replanting. - [How Farm Machines Stay Straight on Slopes for Different Tasks](https://patentbrief.org/patent/us/20210161059/guidance-working-depth-compensation) — This patent describes how a smart farm machine uses GPS and ground slope data to precisely adjust its tools sideways, ensuring follow-up tasks like fertilizing perfectly align with earlier tasks like seeding, even when working at different depths or heights. - [How a Drone Can Fly Ahead of a Moving Vehicle](https://patentbrief.org/patent/us/10133281/leading-drone-system) — This patent describes a system where a drone flies a non-linear path, deliberately spaced from a moving ground or water vehicle, using the vehicle's future path information to stay ahead or in a specific relative position. - [Drone Navigation Using Cameras and Echolocation](https://patentbrief.org/patent/us/9562773/autonomous-vehicle-navigation-system-and-method) — This 2017 patent describes a drone navigation system that uses both cameras and echolocation sensors to detect obstacles and find its way, with echolocation taking priority for immediate threats. - [How Airport Vehicles Automatically Park Safely Next to Airplanes](https://patentbrief.org/patent/us/11932418/starship-propellant-transfer) — A smart navigation system that helps airport service vehicles like catering trucks park safely at aircraft doors by identifying targets and avoiding restricted zones.