Computer-aided farming system and method

• US 6,141,614 A
• Filed: 07/16/1998
• Issued: 10/31/2000
• Est. Priority Date: 07/16/1998
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Janzen, David C., Alster, Louis G.
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US09/116,618
• Time in Patent Office: 838 Days
• Field of Search: 701/50, 701/207, 701/208, 701/213, 701/300, 342/357.13, 342/357.17, 342/457, 340/988, 340/995, 340/438, 340/684, 340/685, 172/2, 172/4, 172/4.5, 172/7, 172/9, 56/10.2 F, 56/10.2 A, 37/348, 37/414, 700/66, 700/83, 700/59
• US Class Current: 701/50
• CPC Class Codes: A01B 79/005 Precision agriculture

Abstract

A computer-aided farming system having a first control system which receives data defining a plurality of parameters. The first control system responsively determines a plurality of nodes located at an agricultural field, and determines a condition status associated with each node. The system also has a second control system located on an agricultural machine which receives data defining the nodes and the condition status at each node. The second control system then plans a path as a function of the nodes, and determines a desired work operation relative to each node. A machine controller controls the agricultural machine to perform the desired work operation at each node.

Claims

1. A computer-aided farming system, comprising:

a first control system adapted to receive data defining a plurality of parameters and responsively determine a plurality of nodes located at an agricultural field, the first control system being further adapted to determine a condition status associated with each of the nodes, the condition status at each node being a function of the parameters;

a second control system located on an agricultural machine and adapted to receive data defining the nodes and the condition status at each node, the second control system being further adapted to plan a path as a function of the nodes and to determine a desired work operation relative to each node, the desired work operation being a function of the condition status at each node; and

a machine controller located on the agricultural machine and adapted to control the agricultural machine to perform the desired work operation at each respective node.

2. A system, as set forth in claim 1, wherein the path is planned by determining a plurality of segments, each segment connecting two nodes.

3. A system, as set forth in claim 2, wherein the machine controller is adapted to control navigation of the agricultural machine to traverse the path.

4. A system, as set forth in claim 1, wherein a parameter is historical yield data.

5. A system, as set forth in claim 1, wherein a parameter is soil data.

6. A system, as set forth in claim 1, wherein a parameter is historical prescription application data.

7. A system, as set forth in claim 1, wherein a parameter is a terrain map having characteristics of the field.

8. A system, as set forth in claim 7, wherein a characteristic of the field is a contour of the field.

9. A system, as set forth in claim 7, wherein a characteristic of the field is an obstacle in the field.

10. A system, as set forth in claim 7, wherein a characteristic of the field is an area of discontinuous contour of the field.

11. A system, as set forth in claim 7, wherein a characteristic of the field is an area of non-tillable terrain in the field.

12. A system, as set forth in claim 1, wherein a parameter is the location of the agricultural machine.

13. A system, as set forth in claim 1, wherein a parameter is rainfall data.

14. A system, as set forth in claim 1, further including a work implement connected to the agricultural machine.

15. A system, as set forth in claim 14, wherein a parameter is a characteristic of the work implement.

16. A system, as set forth in claim 15, wherein the machine controller is further adapted to control the work implement to perform the desired work operation at each respective node.

17. A system, as set forth in claim 16, wherein the machine controller is adapted to control a rate of application of the work implement.

18. A system, as set forth in claim 16, wherein the machine controller is adapted to control an elevation of the work implement.

19. A system, as set forth in claim 16, wherein the condition status associated with each node is updated in response to the agricultural machine performing the desired work operation at the node.

20. A system, as set forth in claim 19, wherein the first control system is adapted to store the condition status in at least one of a plurality of layered database maps.

21. A system, as set forth in claim 20, wherein a layered map contains historical yield data.

22. A system, as set forth in claim 20, wherein a layered map contains data defining locations of obstacles in the field.

23. A system, as set forth in claim 20, wherein a layered map contains fertilizer data.

24. A system, as set forth in claim 20, wherein a layered map contains data defining locations of the nodes in the field.

25. A system, as set forth in claim 20, wherein a layered map contains elevation data of the field.

26. A system, as set forth in claim 20, wherein a layered map contains data defining a condition of weeds in the field.

27. A system, as set forth in claim 20, wherein a layered map contains rainfall data.

28. A system, as set forth in claim 20, wherein a layered map contains irrigation data.

29. A system, as set forth in claim 16, further including a display monitor located on the agricultural machine and electrically connected to the second control system.

30. A system, as set forth in claim 29, wherein the desired work operation relative to each node is displayed on the display monitor to enable an operator of the agricultural machine to responsively control at least one of the agricultural machine and the work implement.

31. A system, as set forth in claim 16, wherein the desired work operation relative to each node is communicated to the machine controller to enable autonomous control of at least one of the agricultural machine and the work implement.

32. A system, as set forth in claim 1, further including a communications system adapted to enable communications between the first control system and the second control system.

33. A system, as set forth in claim 32, wherein the communications system is a wireless communications system.

34. A system, as set forth in claim 32, wherein the communications system is a wired communication system enabled by electrically connecting the first control system to the second control system.

35. A system, as set forth in claim 32, wherein the communications system is a data receptor connected to at least one of the first control system and the second control system, the data receptor being adapted to receive a data medium for communicating data.

36. A system, as set forth in claim 35, wherein the data medium is a removable storage medium.

37. A system, as set forth in claim 1, further including a position determining system located on the agricultural machine and electrically connected to the second control system.

38. A system, as set forth in claim 37, wherein the position determining system includes a GPS receiver.

39. A system, as set forth in claim 1, further including a display monitor electrically connected to the first control system.

40. A computer-aided farming method, including the steps of:

receiving data at a first control system, the data defining a plurality of parameters;

determining a plurality of nodes located at an agricultural field;

determining a condition status associated with each of the nodes, the condition status at each node being a function of the parameters;

receiving data defining the nodes at a second control system located on an agricultural machine;

receiving data defining the condition status at each node at the second control system;

planning a path as a function of the nodes;

determining a desired work operation relative to each node, the desired work operation being a function of the condition status at each node; and

controlling the agricultural machine to perform the desired work operation at each respective node.

41. A method, as set forth in claim 40, wherein planning a path includes the step of determining a plurality of segments, each segment connecting two nodes.

42. A method, as set forth in claim 41, wherein controlling the agricultural machine includes the step of controlling navigation of the agricultural machine to traverse the path.

43. A method, as set forth in claim 40, further including the step of controlling a work implement connected to the agricultural machine to perform the desired work operation at each respective node.

44. A method, as set forth in claim 43, wherein controlling a work implement includes the step of controlling a rate of application of the work implement.

45. A method, as set forth in claim 43, wherein controlling a work implement includes the step of controlling an elevation of the work implement.

46. A method, as set forth in claim 43, further including the step of updating the condition status associated with each node in response to the agricultural machine performing the desired work operation at the node.

47. A method, as set forth in claim 40, further including the step of storing the condition status in at least one of a plurality of layered database maps.

48. A method, as set forth in claim 40, further including the step of determining the position of the agricultural machine.

49. A method, as set forth in claim 40, further including the step of displaying the desired work operation relative to each node on a display monitor located on the agricultural machine.

50. A computer-aided farming system, comprising:

a first control system adapted to receive data defining a plurality of parameters and responsively determine a plurality of nodes located at an agricultural field, the first control system being further adapted to determine a condition status associated with each of the nodes, the condition status at each node being a function of the parameters;

a second control system located on an agricultural machine and adapted to receive data defining the nodes and the condition status at each node, the second control system being further adapted to plan a path as a function of the nodes and to determine a desired work operation relative to each node, the desired work operation being a function of the condition status at each node;

a communications system adapted to enable communications between the first control system and the second control system;

a position determining system located on the agricultural machine and electrically connected to the second control system;

a work implement connected to the agricultural machine; and

a machine controller located on the agricultural machine and adapted to control at least one of the agricultural machine and the work implement to perform the desired work operation at each respective node.