WO2001005213A1 - A locating system and method - Google Patents
A locating system and method Download PDFInfo
- Publication number
- WO2001005213A1 WO2001005213A1 PCT/AU2000/000862 AU0000862W WO0105213A1 WO 2001005213 A1 WO2001005213 A1 WO 2001005213A1 AU 0000862 W AU0000862 W AU 0000862W WO 0105213 A1 WO0105213 A1 WO 0105213A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- signal
- accordance
- locating system
- marker
- sensor
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/02—Ridge-marking or like devices; Checkrow wires; Accessories therefor
- A01B69/026—Checkrow wires
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
Definitions
- the present invention relates to a locating system and method and, in particular, to a locating system and method for determining the location of an article relative to a crop row.
- a solution to the above mentioned problem is to employ a manually controlled mechanical weeding apparatus to remove weeds between the crop rows.
- a manually controlled mechanical weeding apparatus to remove weeds between the crop rows.
- it is necessary to accurately steer the mechanical weeding apparatus between the crop rows so as to avoid damaging the crop. This is often extremely difficult as the crop rows are generally not perfectly straight.
- Manual movement of the weeding apparatus is also very slow.
- An alternative method of guiding a mechanical weeding apparatus incorporates a vision based system using CCD imaging and computer analysis to determine the location of the apparatus relative to the crop rows.
- CCD imaging and computer analysis to determine the location of the apparatus relative to the crop rows.
- the present invention seeks, among other things, to provide a system which overcomes the above mentioned disadvantages.
- a locating system for determining the location of an article relative to a crop row, said article being operatively connected to said system, said system including a plurality of marker means substantially linearly disposed at spaced intervals substantially parallel to said crop row, and a sensing unit disposed, in use, substantially above said plurality of marker means, the sensing unit being adapted to generate a sensor signal indicative of the location of the sensing unit relative to the marker means and thereby of said article relative to said crop row.
- a method of determining the location of an article relative to a crop row said article being operatively connected to said system, said method including the steps of disposing a plurality of marker means substantially linearly at spaced intervals substantially parallel to said crop row, and providing a sensor unit disposed, in use, substantially above said marker means, the sensor unit being adapted to generate a sensor signal indicative of the location of the sensor unit relative to the said marker means and thereby of said article relative to said crop row.
- the article may be a mechanical weeding apparatus and the weeding apparatus may include a movement actuator adapted to adjust the lateral position of the weeding apparatus relative to the crop rows in response to the control signal from the control means. In this way, the location of the weeding apparatus may be adjusted so that the weeding apparatus is maintained in the desired location relative to the crop row whereby weeds are removed without damaging the crop.
- the article may be a herbicide spraying apparatus or fertiliser disposing apparatus which includes a movement actuator adapted to adjust the lateral position of the spraying apparatus or disposing apparatus relative to the crop rows in response to the control signal from the control means. In this way, the location of the spraying apparatus or disposing apparatus relative to the crop may be maintained, and herbicide may be sprayed only on weeds in areas between adjacent crop rows or fertiliser may be disposed only on crops.
- FIG. 1 is a diagrammatic representation of a first embodiment of a sensing unit and a control unit of a locating system in accordance with the present invention
- Figures 2a, 2b and 2c are diagrammatic representations of the sensing unit shown in Figure 1 located, in use, in different locations relative to a crop row;
- Figure 3 is a diagrammatic representation of a second embodiment of a sensing unit and a control unit of a locating system in accordance with the present invention;
- Figure 4 is a diagrammatic representation of a mechanical weeding apparatus including the sensing unit and the control unit of Figure 3;
- Figure 5 is a diagrammatic side view of a marker and seed disposal unit of the locating system of the present invention
- Figure 6a is a diagrammatic side view of a lower portion of a marker disposal unit of the marker and seed disposal unit shown in Figure 5;
- Figure 6b is a diagrammatic plan view of a portion of the marker disposal unit shown in Figure 6a.
- a first embodiment of a locating system 8 including a sensing unit 10 and a control unit 12.
- the locating system 8 also includes marker means in the form of markers 13, shown in use in Figures 2a, 2b and 2c.
- the sensing unit 10 includes a signal generation means, in this example a source of magnetic radiation in the form of a transmitting coil 14, and sensor means responsive to the transmitting coil 14, in this example in the form of first and second receiving coils 16 and 18 respectively.
- the first receiving coil 16 includes a first coil output 20 and the second receiving coil 18 includes a second coil output 22.
- the first and second receiving coils 16, 18 are of substantially the same configuration and are spaced substantially the same distance from the centre of the transmitting coil 14.
- the arrangement of the sensing unit 10 is such that the transmitting coil 14 emits magnetic radiation which is receivable by the first and second receiving coils 16, 18, the first and second receiving coils each generating a current through the first and second receiving coils 16, 18 and a voltage across the first and second receiving coils 16, 18 in response to the received magnetic radiation.
- the magnitude of the current and voltage generated by the first receiving coil 16 in response to the received magnetic radiation is substantially the same as the magnitude of the current and voltage generated by the second receiving coil 18 in response to the received magnetic radiation.
- the first and second receiving coils 16 and 18 are arranged to be nulled under normal conditions such that no signal is generated on either of the first or second coil outputs 20 and 22 as a result of the radiation generated by the transmitting coil 14.
- the control unit 12 includes a logic circuit 24 having first and second logic circuit inputs 26 and 28 respectively.
- the logic circuit 24 also includes first and second logic circuit outputs 34 and 36 respectively and a power supply (not shown) for supplying the required power to all components of the locating system.
- the logic circuit 24 is arranged so that, in use, the logic circuit 24 receives a signal on the first logic circuit input 26 from the first coil output 20 and a signal on the second logic circuit input 28 from the second coil output 22.
- the signals received on the first and second logic circuit inputs 26 and 28 are indicative of the magnitudes of currents generated in the first and second receiving coils 16 and 18 respectively.
- the logic circuit 24 then compares the respective magnitudes of the signals received on the first and second logic circuit inputs 26 and 28 and generates output signals indicative of the difference between the two signals on the first and second logic circuit outputs 34, 36.
- the control unit 12 also includes a tolerance circuit 38 which allows a user to set the level of accuracy of the locating system, and a driver interface connection 40 which connects the logic circuit 24 to a control panel (not shown) for use by a user.
- the sensing unit 10 of Figure 1 is shown in use above a crop row 42 in Figures 2a, 2b and 2c. Markers 13 are interspersed with crops 44 in the crop row 42 such that the markers 13 are disposed substantially linearly and parallel to the crop row 42.
- the markers 13 are arranged to generate a signal or to distort the field produced by the transmitting coil 14 such that the result is detectable by the first and second receiving coils 16 and 18.
- the markers 13 may comprise a metallic object.
- the magnetic field generated by the transmitting coil 14 will induce current flow in the metallic object, which will in turn generate a magnetic field detectable by the first and second receiving coils 16 and 18.
- Each of the first and second receiving coils 16 and 18 along with the transmitting coil 14 therefore acts in a manner similar to known metal detectors.
- the metallic markers are preferably arranged to degrade over time to reduce the incidence of metallic markers from previous crops being detected within a current crop.
- the markers 13 are in the form of tuned markers.
- the tuned markers are arranged to generate a magnetic field when exposed to a magnetic field from the transmitting coil 14 of a predetermined frequency.
- the tuned markers may be constructed by known methods.
- a resonant circuit tuned to a desired frequency could be incorporated within the marker 13.
- the marker 13 may be of a cavity resonator type, wherein the physical characteristics of a cavity within the marker 13 determined the frequency to which it will respond.
- the markers 13 may be transponders capable of transmitting additional information.
- the transponder may include sensors capable of measuring soil conditions and could transmit this information when activated to a data storage means included in the locating system 8. This information could then be used to evaluate land conditions for crop planning.
- the tuned markers would have the advantage that the interference from other metal objects, such as parts of the machinery on which the locating system 8 is mounted, would be reduced. Further, tuned markers of different frequencies could be used in subsequent crops to ensure that markers left in the soil from previous crops are not detected. A number of frequencies could be used alternatively to ensure that the tuned markers have degraded by the time the tuned markers of a certain frequency are used again.
- the markers may be remotely deactivated so that they will not be detectable by the sensing unit 10.
- Transponders of such type are known. This would allow the markers to become inactive at a time specified by the user in relation to the time requirements of the current crop.
- the markers 13 are located closer to the first receiving coil 16 than the second receiving coil 18 and, therefore, the magnitude of the current generated in the first receiving coil 16 is greater than the magnitude of the current generated in the second receiving coil 18.
- the markers 13 are located closer to the second receiving coil 18 than the first receiving coil 16 and, therefore, the magnitude of the current generated in the second receiving coil 18 is greater than the magnitude of the current generated in the first receiving coil 16.
- the difference in the magnitude of the currents generated in the first and second receiving coils 16, 18, which is determined by the logic circuit 24, is indicative of the lateral position of the transmitting coil 14 relative to the markers 13 and thereby to the crop row 42.
- the configuration of the transmitting coil 14 and the sensing coils 16, 18 may be adjusted to suit the type of crop or the distance between markers 13, for example by increasing or decreasing the length of the transmitting coil 14 and the sensing coils 16, 18.
- FIG. 3 shows an alternative embodiment of a locating system 8 in accordance with the present invention.
- the locating system 8 of Figure 3 includes a first antenna 80, a second antenna 82 and an antenna controller circuit 84.
- the markers 13 in this embodiment are in the form of tuned transponders, arranged to transmit a response signal on receiving a signal from either of the first or second antennas 80 and 82.
- the antenna controller circuit 84 is capable of providing a driving signal to each of the first and second antennas 80 and 82 and also of detecting response signals received by the first and second antennas 80 and 82.
- the antenna controller circuit 84 first provides a driving signal to the first antenna 80 while the second antenna remains idle.
- the first antenna 80 is arranged such that if a marker 13 is positioned directly below the area of the first antenna 80, the transmitted signal from the first antenna 80 will activate the marker 13 to emit a response signal.
- the response signal from the marker 13 may then be received by the first antenna 80 and detected by the antenna controller circuit 84.
- the antenna controller circuit 84 then deactivates the first antenna 80 and provides a driving signal to the second antenna 82. If a marker 13 is positioned directly below the area of the second antenna 82, then the marker 13 is activated to generate a response signal.
- the response signal may be received by the second antenna 84 and detected by the antenna controller circuit 84.
- the antenna controller circuit then continues to drive the first and second antennas 80 and 82 alternately.
- the frequency at which the first and second antennas 80 and 82 are alternately driven is set so that sufficient information can be obtained regarding the position of the markers 13 for the speed of travel of the article on which the locating system 8 is mounted.
- the antenna controller circuit 84 further includes first and second signal outputs 86 and 88
- the first and second signal outputs 86 and 88 provide signals to the logic circuit 24 on first and second logic circuit inputs 26 and 28.
- the signals generated on first and second signal outputs 86 and 88 are indicative of whether a response signal from a marker 13 is received by either the first or second antenna 80 or 82 respectively.
- the logic circuit 24 includes logic circuit outputs 34 and 36 on which are generated signals indicative of the required movement of the sensing means 10 relative to the crop row 42.
- the first and second antennas 80 and 82 are arranged such that they are positioned the same distance from the row of markers but with the first antenna 80 being positioned forward of the second antenna 82. The would result in a lower level of interference between the first and second antennas 80 and 82 so that both may be turned on at the same time.
- the locating system 8 of Figures 1 and 2 is shown mounted on a mechanical weeding apparatus 46 in Figure 4.
- the weeding apparatus 46 includes a tool bar 48 and a plurality of harrows 50 adapted to remove weeds from the ground when the weeding device 46 is moved in the direction of the arrow.
- the weeding apparatus 46 also includes tool bar arms 54 for attachment to a suitable pulling vehicle, for example a tractor (not shown).
- the movement actuator 52 is connected to the first and second logic circuit outputs 34, 36 of the control unit 12, the movement actuator 52 thereby receiving the output signals from the control unit 12 and, in response to the output signals, returning the sensing unit 10 to a central location relative to the markers 13, and thereby moving the tool bar 48 and the harrows 50 in a left lateral or right lateral direction parallel to the tool bar 48.
- the type of control signal output generated by the control unit 12 and the corresponding left lateral or right lateral movement of the tool bar 48 depends on whether the transmitting coil 14 is disposed to the left, to the right or centrally relative to the crop row 42 under inspection.
- FIG. 5 there is shown a marker and seed disposal unit 56 of the locating system 8, the marker and seed disposal unit 56 including a marker disposal unit 58 and a seed
- the marker disposal unit 58 includes a marker receptacle 62, a marker tube 64 and a foot portion 66.
- the foot portion 66 is shown in more detail in Figures 5a and 5b, the foot portion 66 including a foot member 70 adapted to create a groove in the ground as the foot member 70 is drawn through the ground in the direction of the arrows in Figures 5a and 5b, and backfill arms 72 adapted to urge soil adjacent the groove to fill the groove as the foot member 70 is drawn through the ground.
- the arrangement is such that as the foot portion 66 is drawn through the ground the foot member 70 creates a groove, markers 13 are periodically dispensed into the groove from the marker receptacle 62 by passing through the marker tube 64, and the groove is filled in by the backfill arms 72.
- the markers 13 which have been dispensed and covered with soil are shown in broken lines and the markers 13 which are not covered with soil are shown in full lines.
- the seed disposal unit 60 includes a seed receptacle 74 and a seed tube 76, the arrangement being such that as the foot portion 66 is drawn through the ground in the direction of the arrows in Figures 6a and 6b, seeds 78 are periodically dispensed.
- the marker and seed disposal unit 56 operates, in use, to substantially linearly dispense seeds 78 and markers 13, with the markers 13 interspersed with the seeds 78 in a line substantially parallel to the seeds 78.
- various forms of movement actuator 52 are envisaged.
- the movement actuator may be hydraulically or electrically operated.
- the movement actuator may include an electric driven worm drive which acts against a fixed surface.
- the movement actuator may include an actuating arm mounted between the weeding apparatus and a disk in contact with the ground, the disk providing a fixed lateral location relative to which the apparatus can be laterally moved
- the movement actuator 52 of a locating system 8 may be interconnected to a steering mechanism of a vehicle such as a tractor, where a device such as the weeding apparatus 46, described above, is towed by the vehicle The steering of the vehicle would then be controlled by the locating system 8 such that the position of the vehicle is also controlled in relation to the position of the crop rows.
- markers and sensing means utilising magnetic and electromagnetic fields.
- Other marking and sensing arrangements are equally applicable to the locating system of the present invention
- a marker of a specific shape could be used, the sensing means utilising radar to locate the position of the marker by recognising the specific shape
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU59529/00A AU770439B2 (en) | 1999-07-20 | 2000-07-19 | A locating system and method |
DE60036623T DE60036623T2 (en) | 1999-07-20 | 2000-07-19 | LOCATION SYSTEM AND METHOD |
DK00945437T DK1204309T3 (en) | 1999-07-20 | 2000-07-19 | Location system and method |
EP00945437A EP1204309B1 (en) | 1999-07-20 | 2000-07-19 | A locating system and method |
NZ517232A NZ517232A (en) | 1999-07-20 | 2000-07-19 | A system for locating an article relative to a crop row |
CA2375899A CA2375899C (en) | 1999-07-20 | 2000-07-19 | A locating system and method |
US10/031,550 US6679338B1 (en) | 1999-07-20 | 2000-07-19 | Locating system and method |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AUPQ1741A AUPQ174199A0 (en) | 1999-07-20 | 1999-07-20 | A locating system and method |
AUPQ1741 | 1999-07-20 | ||
AUPQ7326 | 2000-05-08 | ||
AUPQ7326A AUPQ732600A0 (en) | 2000-05-08 | 2000-05-08 | A locating system and method |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001005213A1 true WO2001005213A1 (en) | 2001-01-25 |
Family
ID=25646104
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AU2000/000862 WO2001005213A1 (en) | 1999-07-20 | 2000-07-19 | A locating system and method |
Country Status (10)
Country | Link |
---|---|
US (1) | US6679338B1 (en) |
EP (1) | EP1204309B1 (en) |
AT (1) | ATE374517T1 (en) |
CA (1) | CA2375899C (en) |
DE (1) | DE60036623T2 (en) |
DK (1) | DK1204309T3 (en) |
ES (1) | ES2295036T3 (en) |
NZ (1) | NZ517232A (en) |
PT (1) | PT1204309E (en) |
WO (1) | WO2001005213A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2001097591A1 (en) * | 2000-06-23 | 2001-12-27 | Pierre Lagarde Sa | Method for magnetically guiding a tool relative to an espalier-trained plant, device therefor and machine equipped with such a device |
FR2843206A1 (en) * | 2002-07-31 | 2004-02-06 | Lagarde Sas | Method for guiding mobile agricultural tool along row of vines, comprises emission of electromagnetic field, measurement of effect due to fencing wire and correction of agricultural tool trajectory |
WO2005053375A1 (en) * | 2003-12-08 | 2005-06-16 | Agriculture Guided Implement Systems Pty Ltd | A crop information system and method |
WO2009067754A1 (en) * | 2007-11-30 | 2009-06-04 | Agriculture Guided Implement Systems Pty Ltd | A guidance system |
WO2019122020A1 (en) * | 2017-12-22 | 2019-06-27 | Robert Ehlers | Devices and method for protecting crop plants and/or sown seeds against unwanted plants |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1320080A1 (en) * | 2001-12-13 | 2003-06-18 | EM Microelectronic-Marin SA | System and method for detecting the passage of a person or an object through an entrance-exit area in a confined space |
US9467220B2 (en) * | 2013-05-29 | 2016-10-11 | Verizon New Jersey Inc. | Controller device implemented in a repeating system associated with a vehicle for extending network signal range |
US9313944B1 (en) | 2014-12-03 | 2016-04-19 | Cnh Industrial America Llc | System and method for agriculture using a seed tape |
RU2670490C1 (en) * | 2017-09-27 | 2018-10-23 | Анатолий Тимофеевич Калюжный | Induction method for determining location of tractor units and device for its implementation |
DE102020201622A1 (en) | 2020-02-10 | 2021-08-12 | Zf Friedrichshafen Ag | Method for tracking a vehicle |
FR3122149B1 (en) * | 2021-04-23 | 2023-07-14 | Grv | Method for assisting the driving of an agricultural tractor or straddle vehicle and vehicle for its implementation |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2001097591A1 (en) * | 2000-06-23 | 2001-12-27 | Pierre Lagarde Sa | Method for magnetically guiding a tool relative to an espalier-trained plant, device therefor and machine equipped with such a device |
FR2843206A1 (en) * | 2002-07-31 | 2004-02-06 | Lagarde Sas | Method for guiding mobile agricultural tool along row of vines, comprises emission of electromagnetic field, measurement of effect due to fencing wire and correction of agricultural tool trajectory |
WO2005053375A1 (en) * | 2003-12-08 | 2005-06-16 | Agriculture Guided Implement Systems Pty Ltd | A crop information system and method |
WO2009067754A1 (en) * | 2007-11-30 | 2009-06-04 | Agriculture Guided Implement Systems Pty Ltd | A guidance system |
WO2019122020A1 (en) * | 2017-12-22 | 2019-06-27 | Robert Ehlers | Devices and method for protecting crop plants and/or sown seeds against unwanted plants |
Also Published As
Publication number | Publication date |
---|---|
CA2375899C (en) | 2010-10-12 |
PT1204309E (en) | 2008-01-14 |
EP1204309B1 (en) | 2007-10-03 |
DE60036623T2 (en) | 2008-06-26 |
US6679338B1 (en) | 2004-01-20 |
NZ517232A (en) | 2002-10-25 |
EP1204309A1 (en) | 2002-05-15 |
EP1204309A4 (en) | 2005-12-14 |
DK1204309T3 (en) | 2008-02-04 |
ATE374517T1 (en) | 2007-10-15 |
ES2295036T3 (en) | 2008-04-16 |
CA2375899A1 (en) | 2001-01-25 |
DE60036623D1 (en) | 2007-11-15 |
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