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

• US 6,941,225 B2
• Filed: 02/03/2003
• Issued: 09/06/2005
• 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: Ehsani, Mohammad, Mattson, Mark L., Upadhyaya, Shrini
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US10/358,088
• Publication Number:
  US 20030159633A1
• Time in Patent Office: 946 Days
• Field of Search: 701/50, 701/207, 701/208, 701/213, 701/214, 56/102.R, 56/102.A
• 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 dispenser for seed or vegetation, the improvement comprising a radio signal based system associated with said planting apparatus for activating said dispenser at a predetermined geographic location for precision planting, and for identification of said geographic location for post planting field operations.

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

a data acquisition and control unit coupled to said dispenser; and

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

3. An improvement as recited in claim 2, 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.

4. An improvement as recited in claim 3, further comprising 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.

5. An improvement as recited in claim 4, further comprising programming associated with said data acquisition and control unit for carrying out the operations of determining if said predetermined geographic location has been reached based on said antenna location.

6. An improvement as recited in claim 2, further comprising programming associated with said data acquisition and control unit for mapping the location of dispensed seeds or vegetation.

7. An improvement as recited in claim 3, further comprising 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 antenna location.

8. An improvement as recited in claim 3, further comprising programming associated with said data acquisition and control 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 antenna location; and

mapping the location of dispensed seeds or vegetation.

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

a data acquisition and control unit coupled to said dispenser;

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

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

determining if a predetermined geographic location has been reached,

activating the dispenser at said predetermined geographic location, and

mapping the geographic location of dispensed seeds or vegetation.

10. An improvement as recited in claim 9, further comprising 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.

11. An improvement as recited in claim 10, further comprising programming associated with said data acquisition and control unit for carrying out the operations of determining if said predetermined geographic location has been reached based on said antenna location.

12. An improvement as recited in claim 9, further comprising 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 antenna location.

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

a data acquisition and control unit coupled to said dispenser;

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

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

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

determining if a predetermined geographic location at which to dispense seeds or vegetation has been reached based on said antenna location,

activating the dispenser at said predetermined geographic location, and

mapping the geographic location of dispensed seeds or vegetation.

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

a data acquisition and control unit coupled said dispenser;

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 and control unit carrying out the operations of

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

determining if a predetermined geographic location has been reached based on said antenna location, and activating said dispenser at said predetermined geographic location.

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

a data acquisition and control unit coupled said dispenser;

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 and control unit carrying out the operations of

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

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

activating said dispenser at said predetermined geographic location, and

mapping the geographic location of dispensed seeds or vegetation.

16. An improvement as recited in claim 6, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

17. An improvement as recited in claim 6, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

18. A method of controlling weeds using an improved automated planting apparatus as recited in claim 6, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

19. A method as recited in claim 18, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

20. A method for precision planting comprising:

providing an automated planting apparatus having a dispenser for seed or vegetation, said apparatus having a radio signal based system for activating said dispenser at a predetermined geographic location for precision planting and for identification of said geographic location for post planting field operations;

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.

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

a data acquisition and control unit coupled to said dispenser; and

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

22. An improvement as recited in claim 21, 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.

23. An improvement as recited in claim 22, further comprising 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.

24. An improvement as recited in claim 23, further comprising programming associated with said data acquisition and control unit for carrying out the operations of determining if said predetermined geographic location has been reached based on said antenna location.

25. An improvement as recited in claim 21, further comprising programming associated with said data acquisition and control unit for mapping the location of dispensed seeds or vegetation.

26. An improvement as recited in claim 21, further comprising 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 antenna location.

27. An improvement as recited in claim 21, further comprising programming associated with said data acquisition and control 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 antenna location; and

mapping the location of dispensed seeds or vegetation.

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

29. An improvement as recited in claim 25, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

30. A method of controlling weeds using an improved automated planting apparatus as recited in claim 25, comprising applying chemical or non-chemical weed control to vegetation that does not correspond to seeds or vegetation previously mapped.

31. A method as recited in claim 30, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

32. A method for precision planting using an apparatus as recited in claim 21, comprising:

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.

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

a data acquisition and control unit coupled to said dispenser;

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

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

determining if a predetermined geographic location has been reached,

activating the dispenser at said predetermined geographic location, and

mapping the geographic location of dispensed seeds or vegetation.

34. An improvement as recited in claim 33, further comprising 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.

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

36. An improvement as recited in claim 33, further comprising 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 antenna location.

37. An improvement as recited in claim 33, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

38. An improvement as recited in claim 33, 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 improved automated planting apparatus as recited in claim 33, 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 33, comprising:

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.

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

a data acquisition and control unit coupled to said dispenser;

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

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

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

determining if a predetermined geographic location at which to dispense seeds or vegetation has been reached based on said antenna location,

activating the dispenser at said predetermined geographic location, and

mapping the geographic location of dispensed seeds or vegetation.

43. An improvement as recited in claim 42, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

44. An improvement as recited in claim 42, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

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

46. A method as recited in claim 45, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

47. 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.

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

a data acquisition and control unit coupled said dispenser;

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 and control unit carrying out the operations of

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

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

activating said dispenser at said predetermined geographic location, and

mapping the geographic location of dispensed seeds or vegetation.

49. An improvement as recited in claim 48, further comprising means for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

50. An improvement as recited in claim 48, further comprising a sensor system configured for detecting green vegetation and identifying that vegetation that does not correspond to seeds or vegetation previously mapped.

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

52. A method as recited in claim 51, wherein said non-chemical weed control is selected from the group consisting essentially of mechanical cultivation, pulsed electrical shock, and flame weeding.

53. A method for precision planting using an apparatus as recited in claim 48, comprising:

determining if a predetermined geographic location has been reached; and

activating said dispenser at said predetermined geographic location.

54. A precision farming method, comprising:

monitoring geographic location information from a radio signal based geographic positioning system;

determining if a predetermined geographic location has been reached;

activating a seed or vegetation dispenser on a planting apparatus at said predetermined geographic location.

55. A method as recited in claim 54, further comprising:

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.

56. A method as recited in claim 55, further comprising generating a map recording the location of said dispensed seed or vegetation.

57. A method as recited in claim 56, further comprising using said map for a post planting field operation.

58. A method as recited in claim 57, wherein said post planting field operation is selected from the group consisting of applying pesticides directly to the plants, cultivating, applying herbicides to control weeds, applying pulsed electrical shock to weeds, and flame weeding.

59. A precision farming method, comprising:

monitoring geographic location information from a radio signal based 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 a seed or vegetation dispenser on a planting apparatus at said predetermined geographic location; and

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

60. A method as recited in claim 59, further comprising using said map for a post planting field operation.

61. A method as recited in claim 60, wherein said post planting field operation is selected from the group consisting of applying pesticides directly to the plants, cultivating, applying herbicides to control weeds, applying pulsed electrical shock to weeds, and flame weeding.