Method and apparatus for determining the location of seedlings during agricultural production

• US 5,991,694 A
• Filed: 05/11/1998
• Issued: 11/23/1999
• Est. Priority Date: 11/13/1995
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Colburn, Stephen, Gudat, Adam J., Harrod, Gregory R.
• Primary Examiner(s): Stamber, Eric W.
• Application Number:
  US09/075,900
• Time in Patent Office: 561 Days
• Field of Search: 701/50, 701/208, 701/213, 701/215, 701/2, 701/5, 342/357, 342/457, 340/988, 340/995, 180/167, 111/200, 172/2, 56/10.2 R, 56/10.2 A
• US Class Current: 702/2
• CPC Class Codes: A01B 79/005 Precision agriculture

Abstract

In one aspect of the present invention, an apparatus for determining the location of rows of seedlings planted during agricultural production is provided. The apparatus senses the position of a planting machine 102 during a planting operation. The apparatus transforms the planting machine position to seedling row locations and creates a database of the locations.

In another aspect of the present invention, a method for determining the location of row of seedlings planted during agricultural production is provided. The method includes the steps of planting seedlings using a planting machine, sensing the position the planting machine and transforming the machine position to seedling row locations.

Claims

1. An apparatus for determining the location of rows of seedlings planted during agricultural production, comprising:

means for sensing a position of a planting machine during a planting operation and responsively producing position information signals;

means for receiving said position information signals, responsively transforming said position information signals to seedling row locations and responsively constructing a database of said seedling row locations; and

a sensing means for determining an orientation relative to the planting machine of a seed head attached to said planting machine and responsively producing a seed head orientation signal, wherein said transformation is performed in response to said seed head orientation signal and said position information signals.

2. An apparatus, as set forth in claim 1, further comprising:

means associated with an agricultural machine, for sensing a position of said agricultural machine and responsively producing an agricultural machine position signal; and

means for storing said database, receiving said agricultural machine position signal and responsively displaying to an operator of said agricultural machine the position of the agricultural machine relative to said seedling row locations.

3. An apparatus, as set forth in claim 2, wherein said database includes landmarks and wherein said display means further displays said landmarks.

4. An apparatus, as set forth in claim 3, wherein said display means generates a warning when the agricultural machine approaches landmarks which form obstacles.

5. An apparatus, as set forth in claim 2, wherein said said display means further display a heading of the agricultural machine.

6. An apparatus, as set forth in claim 1, wherein said sensing means for determining said seed head orientation includes a rotary sensor.

7. An apparatus, as set forth in claim 1, further comprising:

means for determining an orientation of the planting machine, wherein is transformation is additionally performed in response to said planting machine orientation.

8. An apparatus, as set forth in claim 7, wherein said means for determining the orientation of the planting machine includes at least one of a pitch sensor, a tilt sensor, and a yaw sensor.

9. An apparatus for determining the location of rows of seedlings planted during agricultural production, comprising:

means for sensing a position of a planting machine during a planting operation and responsively producing position information signals;

means for receiving said position information signals, responsively transforming said position information signals to seedling row locations and responsively constructing a database of said seedling row locations;

means associated with an agricultural machine, for sensing a position of said agricultural machine and responsively producing an agricultural machine position signal;

means for storing said database, receiving said agricultural machine position signal and responsively displaying to an operator of said agricultural machine the position of the agricultural machine relative to said seedling row locations; and

means for comparing said agricultural machine position to said seedling row locations, and responsively determining a position for a shank of at least one ripper attached to the agricultural machine which avoids said seedling row locations.

10. An apparatus, as set forth in claim 9, wherein said means for comparing said agricultural machine position said seedling row locations displays said position of said ripper shank relative to said seedling row locations in response to said comparison.

11. An apparatus, as set forth in claim 10, further comprising means for dynamically positioning said ripper shank relative to said seedling row locations.

12. A method for determining the location of rows of seedlings planted during agricultural production, comprising:

planting seedlings in rows using a planting machine;

sensing position information of said planting machine during said step of planting said seedlings;

determining an orientation relative to said planting machine of a seed head attached to said planting machine and responsively transforming said position information to seedling row locations; and

storing said seedling row locations in a database.

13. A method as set forth in claim 12, further comprising the steps of:

sensing position information of an agricultural machine during an agricultural process; and

displaying said agricultural machine position information and said seedling row locations to an operator of said agricultural machine during said agricultural process.

14. A method, as set forth in claim 13, wherein said database includes landmarks and wherein said displaying step includes the step of displaying said landmarks.

15. A method, as set forth in claim 13, wherein said said displaying step includes displaying a heading of the agricultural machine.

16. A method, as set forth in claim 13, further comprising storing a path traveled by the planting machine in said database, and wherein said displaying step includes displaying said stored path as a desired path of said agricultural machine.

17. A method as set forth in claim 12, wherein the step of transforming said position information further comprises the step of determining an orientation of said planting machine.

18. A method, as set forth in claim 17, wherein the step of determining said planting machine orientation includes the steps of determining at least one of a pitch, a tilt, and a yaw of said planting machine.

19. A method as set forth in claim 17, wherein the agricultural machine includes a ripper attachment having a shank, the method further comprising the steps of:

determining a position of the shank; and

comparing said shank position to said seedling row locations.

20. A method as set forth in claim 19, further comprising the step of dynamically adjusting the position of the shank relative to the agricultural machine in response to said comparison.

21. A method, as set forth in claim 19, further comprising the step of displaying said shank position relative to said seedling row locations in response to said comparison.