Agricultural implement having multiple agents for mapping fields

• US 5,809,440 A
• Filed: 02/27/1997
• Issued: 09/15/1998
• Est. Priority Date: 02/27/1997
• 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): ZANELLI, MICHAEL J
• Application Number:
  US08/808,497
• Time in Patent Office: 565 Days
• Field of Search: 701/50, 701/207, 701/208, 701/205, 701/213, 701/300, 342/457, 342/357, 340/825.07, 340/825.08, 47/1.7
• US Class Current: 701/50
• 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: G06F 12/0684 with feedback, e.g. presence or absence of unit detected by addressing, overflow detection

Abstract

An agricultural implement in accordance with the present invention includes a supporting member affixed to a farm vehicle, such as a tractor. The supporting member supports a plurality of sensors that each has a unique physical location along the supporting member such that the sensors traverse parallel paths as the vehicle moves across a field. Information gathered by the sensors can be combined with information as to the vehicle'"'"'s position to create a map of the field. For example, information indicative of the presence or absence of weeds at specific locations in a field can be used to create a weed-map. To ensure that such maps accurately depict a field, the agricultural implement includes a control unit configured to automatically assign each sensor unit a unique address based upon the physical location of each sensor.

Claims

1. An agricultural implement comprising:

a supporting member affixed to a vehicle, the vehicle configured to traverse a field along an axis of travel;

a plurality of agents affixed to the supporting member, each of the agents having a unique address and being physically located a distance from the axis of travel such that the agents traverse parallel paths as the vehicle moves along the axis of travel; and

a controller affixed to the vehicle and connected to each of the plurality of agents, the controller configured to automatically assign the unique address of each agent based upon the physical location of each agent.

2. The implement of claim 1, wherein the controller is connected to the plurality of agents via a bus.

3. The implement of claim 2, wherein the bus includes data lines, and wherein the agents are connected to the data lines in parallel.

4. The implement of claim 1, wherein the agents comprise optical sensors configured to sense the presence of weeds in the field.

5. The implement of claim 1, wherein the agents comprise dispensers configured to dispense material onto the field.

6. The implement of claim 5, wherein the material is herbicide.

7. The implement of claim 1, wherein the bus is a communication bus that includes an addressing line serially connected through each of the agents.

8. The implement of claim 7, wherein each of the agents includes a switch connected in series with the addressing line, the state of the switch indicating whether the controller has correlated the address and physical location for a given one of the agents.

9. The implement of claim 1, further comprising a global positioning system for establishing the position of the axis of travel.

10. A method for creating a map of an agricultural field, the map providing positional information as to at least one field characteristic, the method comprising:

positioning a plurality of sensors at a corresponding plurality of unique physical locations on a vehicle such that the sensors traverse parallel paths as the vehicle moves along an axis of travel;

for each of the plurality of sensors;

detecting the presence of the sensor at a unique physical location;

assigning a unique address to the detected sensor, the unique address corresponding to the unique physical location at which the sensor was detected;

traversing the field with the plurality of sensors; and

transmitting from each sensor the unique address and data indicating the presence of the field characteristic while traversing the field with the plurality of sensors.

11. The method of claim 10, wherein the sensors comprise optical sensors configured to sense the presence of weeds in the field.

12. A method for automatically controlling an agricultural operation on a field using a previously created map of the field, wherein the map includes positional information locating instances of at least one field characteristic, the method comprising:

positioning a plurality of agents at a corresponding plurality of unique physical locations on a vehicle such that the agents traverse parallel paths as the vehicle moves through the field along an axis of travel;

for each of the plurality of agents;

detecting the presence of the agent at a unique physical location with respect to the axis of travel;

assigning a unique address to the detected agent, the unique address corresponding to the unique physical location at which the agent was detected;

traversing the field with the plurality of agents and

activating at least one of the agents when the physical location of the at least one agent corresponds to one of the instances of the at least one field characteristic.

13. The method of claim 12, wherein one of the at least one field characteristic is the presence of weeds, and wherein the agent is an herbicide sprayer.

14. The method of claim 12, further comprising maintaining the location of the vehicle using a global positioning system.