Apparatus and method for determining a distance to an object in a field for the controlled release of chemicals on plants, weeds, trees or soil and/or guidance of farm vehicles

• US 5,585,626 A
• Filed: 07/15/1994
• Issued: 12/17/1996
• Est. Priority Date: 07/28/1992
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Patchen, Inc.
• Inventors: Beck, James L., Kinter, Malcolm L.
• Primary Examiner(s): Westin, Edward P.
• Assistant Examiner(s): Calogero, Stephen
• Application Number:
  US08/276,002
• Time in Patent Office: 886 Days
• Field of Search: 250/221, 250/222.1, 250/227.11, 250/224, 250/559.38, 250/226, 356/4.01, 356/3.1, 385/33, 47/1.7
• US Class Current: 250/222.1
• CPC Class Codes: A01M 21/00 Apparatus for the destruction of unwanted vegetation, e.g. weeds control of undesirable vegetation on roads or permanent ways of railways E01H11/00
• CPC Class Codes: A01M 7/0089 Regulating or controlling systems the delivery being related to the movement of a vehicle B05B9/06
• CPC Class Codes: G01C 3/085 with electronic parallax measurement
• CPC Class Codes: G01J 1/04 Optical or mechanical part supplementary adjustable parts
• CPC Class Codes: G01J 1/0407 Optical elements not provided otherwise, e.g. manifolds, windows, holograms, gratings
• CPC Class Codes: G01J 1/0422 using light concentrators, collectors or condensers
• CPC Class Codes: G01J 1/0437 using masks, aperture plates, spatial light modulators, spatial filters, e.g. reflective filters
• CPC Class Codes: G01J 1/4228 arrangements with two or more detectors, e.g. for sensitivity compensation
• CPC Class Codes: G01J 1/44 Electric circuits for command of an exposure part G03B7/02
• CPC Class Codes: G01J 2001/4242 Modulated light, e.g. for synchronizing source and detector circuit
• CPC Class Codes: G01J 3/0205 Optical elements not provided otherwise, e.g. optical manifolds, diffusers, windows
• CPC Class Codes: G01J 3/0216 using light concentrators or collectors or condensers
• CPC Class Codes: G01J 3/0229 using masks, aperture plates, spatial light modulators or spatial filters, e.g. reflective filters
• CPC Class Codes: G01J 3/42 Absorption spectrometry; Double beam spectrometry; Flicker spectrometry; Reflection spectrometry beam switching arrangements G01J3/08
• CPC Class Codes: G01J 3/50 using electric radiation detectors
• CPC Class Codes: G01J 3/501 Colorimeters using spectrally-selective light sources, e.g. LEDs
• CPC Class Codes: G01N 2021/8466 Investigation of vegetal material, e.g. leaves, plants, fruits
• CPC Class Codes: G01N 21/255 Details, e.g. use of specially adapted sources, lighting or optical systems

Abstract

An optical proximity sensor generates information indicative of a distance to an object in a field and in some embodiments also generates information indicative of a spectral reflectance characteristic of the object. The information indicative of the spectral reflectance characteristic can be used to determine whether the object in the field is a living plant or another object such as soil. Light emitted from the optical sensor for reflection off the object is modulated so that reflected light from the optical sensor can be discriminated from reflected ambient sunlight. The optical sensor is scanned over the field to map objects in the field and/or to determine the location of rows of crop plants. A sensor in accordance with the present invention has many uses in agriculture including spraying, cultivation and vehicle guidance.

Claims

1. A method, comprising:

moving a source of light and a light detector with respect to objects in a field, said source of light emitting modulated light which reflects off said objects;

filtering a signal output from said light detector thereby discriminating components of said signal due to said modulated light which reflects off said objects from components of said signal due to ambient light; and

generating information indicative of distances to said objects and information indicative of whether said objects are living plants.

2. The method of claim 1, wherein said ambient light is sunlight.

3. A method, comprising:

moving a sensor with respect to an object in a field, said sensor comprising a source of light and a light detector, light from said source of light scanning over said object and light from said source of light reflecting off said object and being incident upon said light detector of said sensor, said light reflecting off said object causing a signal to be output from said light detector of said sensor;

using a signal output from said light detector of said sensor to obtain distance information, said distance information being indicative of a distance between said sensor and said object when said light from said source is reflecting off said object; and

using a signal output from a light detector of said sensor to determine a spectral reflectance characteristic of said object, said spectral reflectance characteristic being indicative of whether said object is a living plant.

4. The method of claim 3, wherein said source of light comprises a light emitting diode.

5. The method of claim 3, wherein said light which reflects off said object is incident upon a first portion of said light detector but not on a second portion of said light detector if said object is disposed a first distance from said sensor, and wherein said light which reflects off said object is incident upon said second portion of said light detector but not on said first portion of said light detector if said object is disposed a second distance from said sensor.

6. The method of claim 5, wherein said source of light outputs a first amount of substantially monochromatic light of a first wavelength and a second amount of light of substantially monochromatic light of a second wavelength, said first amount of light being modulated with a first modulation signal, said second amount of light being modulated with a second modulation signal.

7. The method of claim 6, wherein said first modulation signal is phase shifted with respect to said second modulation signal.

8. The method of claim 5, wherein said object is a tree and wherein said light from said source of light travels in a substantially horizontal direction toward said tree when said source of light is moved with respect to said tree.

9. The method of claim 5, wherein said light from said source of light travels in a substantially vertical direction toward said object when said source of light is moved with respect to said object.

10. The method of claim 5, further comprising:

using said spectral reflectance characteristic to map objects in said field.

11. The method of claim 5, further comprising:

using said distance information to map objects in said field.

12. The method of claim 5, further comprising:

storing in a data storage device information indicative of locations of a plurality of objects in said field, said data storage device being coupled to said sensor.

13. The method of claim 5, further comprising:

using said spectral reflectance characteristic to control a valve, pump or injector.

14. The method of claim 5, further comprising:

using said spectral reflectance characteristic to guide a vehicle or implement through said field.

15. Structure for outputting information indicative of a distance to an object in a field, comprising:

a source of light of a first wavelength and light of a second wavelength, said light of said first wavelength being modulated by a first modulation signal, said light of said second wavelength being modulated by a second modulation signal; and

a light detector having a first portion and a second portion, light from said source which has reflected off said object being incident on said first portion but not on said second portion if said object is located a first distance from said light detector, light from said source which has reflected off said object being incident on said second portion but not on said first portion if said object is located a second distance from said light detector.

16. The structure of claim 15, wherein said first signal has a frequency and wherein said second signal has a frequency, said structure further comprising:

a filter circuit coupled to an output lead of said light detector, said filter circuit rejecting signals on said output lead of said detector circuit due to incident ambient light which have frequencies lower than said frequencies of said first and second modulation signals.

17. The structure of claim 16, wherein said frequency of said first modulation signal is the same as the frequency of said second modulation frequency, said first modulation signal being phase shifted with respect to said second modulation signal.

18. The structure of claim 15, further comprising:

a first lens forming light output from said source of light into a beam of light; and

a second lens directing light of said beam which has reflected off said object toward said light detector.

19. The structure of claim 18, further comprising:

an image mask disposed between said second lens and said light detector.

20. The structure of claim 19, wherein said image mask has an opening, a first side of said opening being non-parallel with respect to a second side of said opening.

21. Structure comprising:

means for obtaining information indicative of a distance to an object in a field; and

means for determining whether said object is a plant.

22. A method, comprising:

electronically detecting light which has reflected off an object in a field;

making a determination whether said object has a spectral characteristic of a plant; and

guiding a vehicle or an implement through said field with respect to said object based at least in part on said determination.

23. The method of claim 22, wherein said guiding of said vehicle or implement with respect to said object involves guiding said vehicle or implement with respect to a row of objects, the method further comprising:

storing information indicative of locations of objects in said field; and

using said information to determine a location of said row of objects in said field.

24. The method of claim 23, further comprising:

moving a source of modulated light with respect to said object in said field, said light which has reflected off said object being modulated light emitted from said source of modulated light.

25. A method, comprising:

electronically detecting light which has reflected off an object in a field;

obtaining information indicative of a distance to said object; and

guiding a vehicle or an implement through said field with respect to said object based on said information.

26. The method of claim 25, wherein said guiding of said vehicle or implement with respect to said object involves guiding said vehicle or implement with respect to a row of objects, the method further comprising:

storing information indicative of locations of objects in said field; and

using said information to determine a location of said row of objects in said field.

27. The method of claim 26, further comprising:

moving a source of modulated light with respect to said object in said field, said light which has reflected off said object being modulated light emitted from said source of modulated light.

28. A method, comprising:

moving a first sensor with respect to a tree, said first sensor comprising a source of light and a light detector, said first sensor outputting information indicative of a distance to said tree;

moving a second sensor with respect to said tree, said second sensor comprising a source of light and a light detector, said second sensor being coupled to an electronically-controlled spray nozzle; and

selectively disabling said electronically-controlled spray nozzle based at least in part on said distance information output from said first sensor, said second sensor otherwise controlling said electronically-controlled spray nozzle to spray objects having a predetermined spectral characteristic.

29. The method of claim 28, wherein said first sensor, said second sensor, and said electronically-controlled spray nozzle are moved with respect to said tree by a means for moving, wherein said source of light of said first sensor outputs modulated light, and wherein said source of light of said second sensor outputs modulated light.

30. A method, comprising:

moving a light detector over a surface of a field to obtain spectral reflectance information;

forming a two-dimensional map of at least a part of said field using said spectral reflectance information by classifying areas of said surface of said field based on their spectral reflectance characteristics, some of said areas being plants disposed in a row and others of said areas being soil; and

analyzing said two-dimensional map to locate said row of plants, said forming and analyzing occurring in a digital processor moving over said surface with said light detector.

31. The method of claim 30, further comprising:

moving a source of light over said surface, said source of light emitting substantially monochromatic light of a first wavelength which is modulated with a first modulation signal, said source of light also emitting substantially monochromatic light of a second wavelength which is modulated with a second modulation signal.

32. The method of claim 31, said surface of said field comprising rows of plants and middles, the method further comprising:

blanket spraying said middles.

33. The method of claim 31, said surface of said field comprising rows of plants and middles, the method further comprising:

selectively spraying plants in said middles and not spraying substantial amounts of soil in said middles.

34. The method of claim 31, further comprising:

guiding a vehicle or implement through said field with respect to said row.

35. A method, comprising:

moving a light detector over a surface of a field to obtain distance information;

forming a two-dimensional map of at least a part of said field using said distance information to classify said areas of said surface, some of said areas being plants disposed in a row and others of said areas being soil; and

analyzing said two-dimensional map to locate said row of plants, said forming and analyzing occurring in a digital processor moving over said surface with said light detector.

36. The method of claim 35, further comprising:

guiding a vehicle or implement through said field with respect to said row.

37. A method comprising:

electronically detecting light reflecting off a plant in a field and obtaining therefrom spectral information; and

determining whether said spectral information is indicative of a spectral characteristic of a first type of plant or is indicative of a spectral characteristic of a second type of plant.

38. The method of claim 37, wherein said first type of plant is a parasitic weed and wherein said second type of plant is a crop plant.

39. The method of claim 38, wherein said parasitic weed is the parasitic weed Dodder and wherein said crop plant is safflower.

40. The method of claim 37, wherein said plant of said first type is a weed of a first species, and wherein said plant of said second type is a crop plant of a second species.

41. The method of claim 37, wherein said plant of said first type is a crop plant substantially free of pests, and wherein said plant of said second type is a crop plant afflicted by said pests.

42. The method of claim 41, wherein said pests are taken from the group consisting of insects, vertebrates, fungi and pathogens.

43. The method of claim 37, wherein said plant of said first type is a hydrated crop plant, and wherein said plant of said second type is a crop plant afflicted by drought stress.

44. The method of claim 38, further comprising:

spraying said plant with herbicide if said spectral information is determined to be indicative of a parasitic weed and not spraying said plant with herbicide if said spectral information is determined to be indicative of a crop plant.

45. A method, comprising:

transmitting, from a location on one side of a row of crop plants in a field, substantially monochromatic light of the first wavelength and substantially monochromatic light of a second wavelength toward an object disposed in said row; and

receiving, at a location on the opposite side of said row of crop plants, a portion of said substantially monochromatic light of said first and second wavelengths which has reflected off said object.

46. The method of claim 45, wherein said object is taken from the group consisting of a weed and soil.

47. The method of claim 45, wherein said locations are above an upper extent of said crop plants in said row.

48. The method of claim 45, wherein said locations are below an upper extent of said crop plants in said row.

49. The method of claim 45, wherein said crop plants are cotton plants.

50. The method of claim 45, further comprising:

spraying a first object if monochromatic light of said first and second wavelengths which has reflected off said first object is received at said location on said opposite side of said row and is indicative of a plant, not spraying said first object if monochromatic light of said first and second wavelengths which has reflected off said first object is received at said location on said opposite side of said row and is indicative of soil, and not spraying said first object if monochromatic light of said first and second wavelengths reflects off said first object but substantially none of said monochromatic light which reflects off said first object is received at said location on said opposite side of said row.

51. The method of claim 45, wherein a first line from said location on said one side of said row to said object intersects a second line from said object to said location on said another side of said row at an angle exceeding 45 degrees, said first line and said second line intersecting at a point in a centerline of said row of crop plants.

52. A structure, comprising:

a source of light;

a light detector;

means, coupled to said light detector, for determining whether an optical path between said source of light and said light detector is obstructed, light traveling in said optical path from said source of light to said light detector having to reflect off an object in order to reach said light detector; and

an electronically-controlled plante-eliminating device coupled to said means for determining.

53. The structure of claim 52, wherein said electronically-controlled plant-eliminating device is taken from the group consisting of an automatic hoe and an electronically-controlled spray nozzle.