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

• US 6,553,312 B2
• Filed: 06/29/2001
• Issued: 04/22/2003
• 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): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/895,851
• Publication Number:
  US 20030028321A1
• Time in Patent Office: 662 Days
• Field of Search: 701/50, 701/207, 701/208, 701/213, 701/214, 172/4.5, 172/9, 702/1, 702/5, 342/357.01, 342/357.12, 340/988, 56/102.A, 56/102.R, D15/13
• US Class Current: 701/213
• 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 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

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. An apparatus for activating a seed or vegetation dispenser in an automated planting apparatus, comprising:

a data acquisition and control unit configured for connection to said seed or vegetation dispenser; and

means associated with said data acquisition and control unit for determining if a predetermined geographic location has been reached and activating said dispenser at said location.

2. An apparatus as recited in claim 1, wherein said means comprises a radio signal based geographic positioning system coupled to said data acquisition and control unit.

3. An apparatus as recited in claim 2, wherein said geographic positioning system comprises a GPS-based positioning system.

4. An apparatus as recited in claim 3, wherein said GPS-based positioning system comprises:

a mobile GPS-based receiver; and

a GPS based base station configured for providing geographic location reference information to said receiver.

5. An apparatus as recited in claim 2, wherein said means further comprises programming associated with said data acquisition and control unit for carrying out the operations of:

monitoring geographic location information from said geographic positioning system;

determining if a predetermined geographic location has been reached; and

activating the dispenser at said predetermined geographic location.

6. An apparatus as recited in claim 5, wherein said means further comprises programming associated with said data acquisition and control unit for carrying out the operations of determining the geographic location of a receiving antenna associated with said geographic positioning system.

7. An apparatus as recited in claim 6, wherein said means further comprises programming associated with said data acquisition unit for carrying out the operations of determining if said predetermined geographic location has been reached based on said receiving antenna location.

8. An apparatus as recited in claim 5, wherein said means further comprises programming associated with said data acquisition and control unit for carrying out the operations of:

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

determining if said predetermined geographic location has been reached based on said receiving antenna location.

9. An apparatus as recited in claim 2, wherein said means further comprises programming associated with said data acquisition unit carrying out the operations of:

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

determining if said predetermined geographic location has been reached based on said receiving antenna location; and

mapping the geographic location of dispensed seeds or vegetation.

10. An improvement as recited in claim 1, further comprising programming associated with said data acquisition and control unit for mapping the location of dispensed seeds or vegetation.

11. An apparatus as recited in claim 10, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

12. An apparatus as recited in claim 10, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

13. A method of controlling weeds using an apparatus as recited in claim 10, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

14. A method as recited in claim 13, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

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

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.

16. An apparatus for activating a seed or vegetation dispenser in an automated planting apparatus, comprising:

a data acquisition and control unit configured for connection to said seed or vegetation dispenser; and

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

17. An apparatus as recited in claim 16, wherein said geographic positioning system comprises a GPS-based positioning system.

18. An apparatus as recited in claim 17, wherein said GPS-based positioning system comprises:

a mobile GPS-based receiver; and

a GPS based base station configured for providing geographic location reference information to said receiver.

19. An apparatus as recited in claim 16, further comprising programming associated with said data acquisition and control unit for carrying out the operations of:

monitoring geographic location information from said geographic positioning system;

determining if a predetermined geographic location has been reached; and

activating the dispenser at said predetermined geographic location.

20. An apparatus as recited in claim 19, 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.

21. An apparatus as recited in claim 20, further comprising programming associated with said data acquisition unit for carrying out the operations of determining if said predetermined geographic location has been reached based on said receiving antenna location.

22. An apparatus as recited in claim 19, 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 if said predetermined geographic location has been reached based on said receiving antenna location.

23. An apparatus as recited in claim 16, further comprising programming associated with said data acquisition unit carrying out the operations of:

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

determining if said predetermined geographic location has been reached based on said receiving antenna location; and

mapping the geographic location of dispensed seeds or vegetation.

24. An improvement as recited in claim 16, further comprising programming associated with said data acquisition and control unit for mapping the location of dispensed seeds or vegetation.

25. An apparatus as recited in claim 24, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

26. An apparatus as recited in claim 24, 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 apparatus as recited in claim 24, 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 16, comprising:

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.

30. An apparatus for activating a seed or vegetation dispenser in an automated planting apparatus, comprising:

a data acquisition and control unit configured for connection to said seed or vegetation dispenser; and

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

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

monitoring geographic location information from said geographic positioning system;

determining if a predetermined geographic location has been reached; and

activating the dispenser at said predetermined geographic location.

31. An apparatus as recited in claim 30, wherein said geographic positioning system comprises a GPS-based positioning system.

32. An apparatus as recited in claim 31, wherein said GPS-based positioning system comprises:

a mobile GPS-based receiver; and

a GPS based base station configured for providing geographic location reference information to said receiver.

33. An apparatus 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.

34. An apparatus as recited in claim 33, further comprising programming associated with said data acquisition unit for carrying out the operations of determining if said predetermined geographic location has been reached based on said receiving antenna location.

35. An apparatus as recited in claim 30, 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 if said predetermined geographic location has been reached based on said receiving antenna location.

36. An improvement as recited in claim 33, further comprising programming associated with said data acquisition and control unit for mapping the location of dispensed seeds or vegetation.

37. An apparatus as recited in claim 36, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

38. An apparatus as recited in claim 36, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

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

40. A method as recited in claim 39, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

41. A method for precision planting using an apparatus as recited in claim 36, comprising:

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.

42. An apparatus for activating a seed or vegetation dispenser in an automated planting apparatus, comprising:

a data acquisition and control unit configured for connection to said seed or vegetation dispenser; and

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

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

monitoring geographic location information from said geographic positioning system;

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

determining if a predetermined geographic location has been reached based on said receiving antenna location, and

activating the dispenser at said predetermined geographic location.

43. An apparatus as recited in claim 42, wherein said geographic positioning system comprises a GPS-based positioning system.

44. An apparatus as recited in claim 43, wherein said GPS-based positioning system comprises:

a mobile GPS-based receiver; and

a GPS based base station configured for providing geographic location reference information to said receiver.

45. An improvement as recited in claim 42, further comprising programming associated with said data acquisition and control unit for mapping the location of dispensed seeds or vegetation.

46. An apparatus 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 apparatus 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 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 42, comprising:

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.

51. An apparatus for activating a seed or vegetation dispenser in an automated planting apparatus, comprising:

a sensor configured for sensing seeds or vegetation dispensed from a planting apparatus;

a data acquisition unit coupled to said sensor;

a GPS-based geographic positioning receiver coupled to said data acquisition unit;

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 geographic location information from said geographic positioning system;

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

determining if a predetermined geographic location has been reached based on said receiving antenna location,

activating the dispenser at said predetermined geographic location, and

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

52. An apparatus as recited in claim 51, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

53. An apparatus as recited in claim 51, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

54. A method of controlling weeds using an apparatus as recited in claim 51, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

55. A method as recited in claim 54, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

56. A method for precision planting using an apparatus as recited in claim 51, comprising:

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.