Method and apparatus for ultra precise GPS-based mapping of seeds or vegetation during planting

• US 6,516,271 B2
• Filed: 06/29/2001
• Issued: 02/04/2003
• Est. Priority Date: 06/29/2001
• Status: Expired due to Term

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Upadhyaya, Shrini, Ehsani, Mohammad, Mattson, Mark L.
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/895,853
• Publication Number:
  US 20030009282A1
• Time in Patent Office: 585 Days
• Field of Search: 701/50, 701/207, 701/208, 701/213, 701/214, 702/1, 702/5, 56/102.R, 56/102.A, 340/988
• US Class Current: 701/213
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01C 21/005 Following a specific plan, e.g. pattern
• CPC Class Codes: A01C 7/105 Seed sensors
• CPC Class Codes: G01S 13/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track G01S13/64 takes precedence
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

An ultra precise seed planter apparatus and method for generating a centimeter accuracy map of the location of seeds or vegetation as they are planted from an agricultural planting machine. The apparatus is fitted with a GPS receiver feeding a data logger, and optical sensors that are placed adjacent seed or vegetation dispenser. The data logger monitors GPS time and UTM coordinates, as well as the optical sensors. Ground speed and azimuth are also monitored. The seeds or vegetation are time-tagged as they are dispensed, and software is used to process the dispensing time and GPS location data and estimate the exact coordinates of each seed or plant and its distance from adjacent seeds or plants. As a result, a precise planting map is generated. The invention may also be used to determine the location to dispense seeds or vegetation, and activating the dispenser when that location is reached.

Claims

1. In an automated planting apparatus having a seed or vegetation dispenser or the like, the improvement comprising:

a radio signal based geographic positioning system (GPS) associated with said planting apparatus for mapping the geographic location of seeds or vegetation dispensed from said planting apparatus;

wherein said system time-tags said seeds or vegetation as they are dispensed;

wherein said system employs OPS data and data from said time-tagging to estimate the coordinates of said dispensed seeds or vegetation and distance from adjacent dispensed seeds or vegetation, and

means for reducing error associated with estimation of said coordinates.

2. An improvement as recited in claim 1, wherein said system comprises:

it a sensor configured for sensing dispensed seeds or vegetation;

a data acquisition unit coupled to said sensor; and

a radio signal based geographic positioning system coupled to said data acquisition unit.

3. An improvement as recited in claim 2, further comprising programming associated with said data acquisition unit carrying out the operations of:

monitoring seed or vegetation dispensing; and

mapping the geographic location of dispensed seeds or vegetation using geographic location information from said geographic positioning system.

4. An improvement as recited in claim 3, further comprising programming associated with said data acquisition unit for carrying out the operations of determining the geographic location of a receiving antenna associated with said geographic positioning system.

5. An improvement as recited in claim 4, further comprising programming associated with said data acquisition unit for carrying out the operations of determining the geographic location of dispensed seeds or vegetation based on said antenna location.

6. An improvement as recited in claim 3, further comprising programming associated with said data acquisition unit for carrying out the operations of:

determining the geographic location of a receiving antenna associated with said geographic positioning system; and

determining the geographic location of dispensed seeds or vegetation based on said antenna location.

7. An improvement as recited in claim 2, further comprising programming associated with said data acquisition unit carrying out the operations of:

monitoring seed or vegetation dispensing;

determining the geographic location of a receiving antenna associated with said geographic positioning system;

determining the geographic location of dispensed seeds or vegetation based on said antenna location; and

mapping the geographic location of dispensed seeds or vegetation.

8. An improvement as recited in claim 1, wherein said system comprises:

a sensor configured for sensing dispensed seeds or vegetation;

a data acquisition unit coupled to said sensor;

a radio signal based geographic positioning system coupled to said data acquisition unit; and

programming associated with said data acquisition unit carrying out the operations of

monitoring seed or vegetation dispensing, and

mapping the geographic location of dispensed seeds or vegetation using geographic location information from said geographic positioning system.

9. An improvement as recited in claim 8, further comprising programming associated with said data acquisition unit for carrying out the operations of determining the geographic location of a receiving antenna associated with said geographic positioning system.

10. An improvement as recited in claim 9, further comprising programming associated with said data acquisition unit for carrying out the operations of determining the geographic location of dispensed seeds or vegetation based on said antenna location.

11. An improvement as recited in claim 8, further comprising programming associated with said data acquisition unit for carrying out the operations of:

determining the geographic location of a receiving antenna associated with said geographic positioning system; and

determining the geographic location of dispensed seeds or vegetation based on said antenna location.

12. An improvement as recited in claim 1, wherein said system comprises:

a sensor configured for sensing dispensed seeds or vegetation;

a data acquisition unit coupled to said sensor;

a radio signal based geographic positioning system coupled to said data acquisition unit; and

programming associated with said data acquisition unit carrying out the operations of

monitoring seed or vegetation dispensing,

determining the geographic location of a receiving antenna associated with said geographic positioning system,

determining the geographic location of dispensed seeds or vegetation based on said antenna location, and

mapping the geographic location of dispensed seeds or vegetation.

13. An improvement as recited in claim 1, wherein said system comprises:

a sensor configured for sensing dispensed seeds or vegetation;

a data acquisition unit coupled said sensor;

a GPS-based geographic positioning receiver;

a GPS-based geographic positioning base station configured for providing geographic location reference information to said receiver; and

programming associated with said data acquisition unit carrying out the operations of

monitoring seed or vegetation dispensing,

determining the geographic location of an antenna associated with said receiver,

determining the geographic location of dispensed seeds or vegetation based on said antenna location, and

mapping the geographic location of dispensed seeds or vegetation.

14. An improvement as recited in claim 1, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

15. An improvement as recited in claim 1, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

16. A method of controlling weeds using an improved automated planting apparatus as recited in claim 1, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

17. A method as recited in claim 16, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

18. A method for precision planting using an apparatus as recited in claim 1, comprising:

identifying the location of dispensed seeds or vegetation; and

generating a map recording the location of said dispensed seeds or vegetation.

19. In an automated planting apparatus having a seed or vegetation dispenser or the like, the improvement comprising:

a sensor configured for sensing dispensed seeds or vegetation;

a data acquisition unit coupled to said sensor;

a radio signal based geographic positioning system (GPS) coupled to said data acquisition unit;

wherein said seeds or vegetation are time-tagged as they are dispensed;

wherein GPS data and data from said time-tagging are employed to estimate the coordinates of said dispensed seeds or vegetation and distance from adjacent dispensed seeds or vegetation; and

means for reducing error associated with estimation of said coordinates.

20. An improvement as recited in claim 19, further comprising programming associated with said data acquisition unit carrying out the operations of:

monitoring seed or vegetation dispensing; and

mapping the geographic location of dispensed seeds or vegetation using geographic location information from said geographic positioning system.

21. An improvement as recited in claim 20, further comprising programming associated with said data acquisition unit for carrying out the operations of determining the geographic location of a receiving antenna associated with said geographic positioning system.

22. An improvement as recited in claim 21, further comprising programming associated with said data acquisition unit for carrying out the operations of determining the geographic location of dispensed seeds or vegetation based on said antenna location.

23. An improvement as recited in claim 20, further comprising programming associated with said data acquisition unit for carrying out the operations of:

determining the geographic location of a receiving antenna associated with said geographic positioning system; and

determining the geographic location of dispensed seeds or vegetation based on said antenna location.

24. An improvement as recited in claim 19, further comprising programming associated with said data acquisition unit carrying out the operations of:

monitoring seed or vegetation dispensing;

determining the geographic location of a receiving antenna associated with said geographic positioning system;

determining the geographic location of dispensed seeds or vegetation based on said antenna location; and

mapping the geographic location of dispensed seeds or vegetation.

25. An improvement as recited in claim 19, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

26. An improvement as recited in claim 19, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

27. A method of controlling weeds using an improved automated planting apparatus as recited in claim 19, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

28. A method as recited in claim 27, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

29. A method for precision planting using an apparatus as recited in claim 19, comprising:

identifying the location of dispensed seeds or vegetation; and

generating a map recording the location of said dispensed seeds or vegetation.

30. In an automated planting apparatus having a seed or vegetation dispenser or the like, the improvement comprising:

a sensor configured for sensing dispensed seeds or vegetation;

a data acquisition unit coupled to said sensor;

a radio signal based geographic positioning system (GPS) coupled to said data acquisition unit;

programming associated with said data acquisition unit carrying out the operations of

monitoring seed or vegetation dispensing,

mapping the geographic location of dispensed seeds or vegetation using geographic location information from said geographic positioning system,

time-tagging said seeds or vegetation as they are dispensed, and

employing GPS data and data from said time-tagging to estimate the coordinates of said dispensed seeds or vegetation and distance from adjacent dispensed seeds or vegetation; and

means for reducing error associated with estimation of said coordinates.

31. An improvement as recited in claim 30, further comprising programming associated with said data acquisition unit for carrying out the operations of determining the geographic location of a receiving antenna associated with said geographic positioning system.

32. An improvement as recited in claim 31, further comprising programming associated with said data acquisition unit for carrying out the operations of determining the geographic location of dispensed seeds or vegetation based on said antenna location.

33. An improvement as recited in claim 30, further comprising programming associated with said data acquisition unit for carrying out the operations of.

determining the geographic location of a receiving antenna associated with said geographic positioning system; and

determining the geographic location of dispensed seeds or vegetation based on said antenna location.

34. An improvement as recited in claim 30, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

35. An improvement as recited in claim 30, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

36. A method of controlling weeds using an improved automated planting apparatus as recited in claim 30, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

37. A method as recited in claim 36, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

38. A method for precision planting using an apparatus as recited in claim 30, comprising:

identifying the location of dispensed seeds or vegetation; and

generating a map recording the location of said dispensed seeds or vegetation.

39. In an automated planting apparatus having a seed or vegetation dispenser or the like, the improvement comprising:

a sensor configured for sensing dispensed seeds or vegetation;

a data acquisition unit coupled to said sensor;

a radio signal based geographic positioning system (GPS) coupled to said data acquisition unit;

programming associated with said data acquisition unit carrying out the operations of

monitoring seed or vegetation dispensing,

determining the geographic location of a receiving antenna associated with said geographic positioning system,

determining the geographic location of dispensed seeds or vegetation based on said antenna location,

mapping the geographic location of dispensed seeds or vegetation;

time-tagging said seeds or vegetation as they are dispensed, and

employing GPS data and data from said time-tagging to estimate the coordinates of said dispensed seeds or vegetation and distance from adjacent dispensed seeds or vegetation; and

means for reducing errors associated with estimation of said coordinates.

40. An improvement as recited in claim 39, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

41. An improvement as recited in claim 39, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

42. A method of controlling weeds using an improved automated planting apparatus as recited in claim 39, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

43. A method as recited in claim 42, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

44. A method for precision planting using an apparatus as recited in claim 39, comprising:

identifying the location of dispensed seeds or vegetation; and

generating a map recording the location of said dispensed seeds or vegetation.

45. In an automated planting apparatus having a seed or vegetation dispenser or the like, the improvement comprising:

a sensor configured for sensing dispensed seeds or vegetation;

a data acquisition unit coupled said sensor;

a GPS based geographic positioning receiver;

a GPS-based geographic positioning base station configured for providing geographic location reference information to said receiver;

programming associated with said data acquisition unit carrying out the operations of

monitoring seed or vegetation dispensing,

determining the geographic location of an antenna associated with said receiver,

determining the geographic location of dispensed seeds or vegetation based on said antenna location,

mapping the geographic location of dispensed seeds or vegetation,

time-tagging said seeds or vegetation as they are dispensed;

employing GPS data and data from said time-tagging to estimate the coordinates of said dispensed seeds or vegetation and distance from adjacent dispensed seeds or vegetation; and

means for reducing track and cross track errors associated with estimation of said coordinates.

46. An improvement as recited in claim 45, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

47. An improvement as recited in claim 45, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

48. A method of controlling weeds using an improved automated planting apparatus as recited in claim 45, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

49. A method as recited in claim 48, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

50. A method for precision planting using an apparatus as recited in claim 45, comprising:

identifying the location of dispensed seeds or vegetation; and

generating a map recording the location of said dispensed seeds or vegetation.