Granted Patent B2

US 12,610,880 · App. 18/644,616 · Granted Apr 28, 2026

Inventors: Michael Christopher Conboy (Chicago, IL); Mario Rathmanner (Baden, AT); Michael Pregesbauer (Baden, AT)

Assignee: CNH Industrial America LLC

A01C14/00G01S13/885

Abstract

Claims (67)

1 . A seed-planting implement, comprising:

a frame;

a disk opener rotatably coupled to the frame;

a gauge wheel adjustably coupled to the frame;

first and second radar sensors supported on the frame; and

a computing system communicatively coupled to the first and second radar sensors, the computing system configured to:

control the first radar sensor such that the first radar sensor scans a sub-surface detection zone of a field before a seed is deposited within the sub-surface detection zone;

receive first radar sensor data including a plurality of first radar data points from the first radar sensor, each first radar data point corresponding to a parameter associated with a reflection of an output signal emitted by the first radar sensor from a given location within the sub-surface detection zone;

populate a first matrix including a plurality of cells with the plurality of first data points such that each first data point is placed within a cell corresponding to the given location within the sub-surface detection zone;

after controlling the first radar sensor, control the second radar sensor such that the second radar sensor scans the sub-surface detection zone of the field after the seed is deposited within the sub-surface detection zone;

receive second radar sensor data including a plurality of second radar data points from the second radar sensor, each second radar data point corresponding to a parameter associated with a reflection of an output signal emitted by the second radar sensor from a given location within the sub-surface detection zone;

populate a second matrix including a plurality of cells with the plurality of second data points such that each second data point is placed within a cell corresponding to the given location within the sub-surface detection zone;

determine a correlation between the first and second matrices; and

determine a location of the seed based on the determined correlation between the first and second matrices.

2 . The seed-planting implement of claim 1 , wherein, when determining the correlation, the computing system is configured to:

compare the generated first matrix to the generated second matrix to determine the correlation.

3 . The seed-planting implement of claim 1 , wherein, when determining the correlation, the computing system is further configured to:

determine a plurality of correlation values, each correlation value being indicative of a correlation between the parameter of a given cell of the first matrix and a parameter of a cell of at a corresponding location within the second matrix.

4 . The seed-planting implement of claim 3 , wherein, when determining the location of the seed, the computing system is further configured to:

determine a minimum correlation value of the plurality of correlation values; and

determine the location of the seed based on a location of the cells having the minimum correlation value within the first matrix and the second matrix.

5 . The seed-planting implement of claim 1 , wherein the computing system is configured to control an operation of the seed-planting implement based on the determined location of the seed.

6 . A system for determining seed placement during a seed-planting operation, the system comprising:

first and second radar sensors supported on a frame; and

a computing system communicatively coupled to the first and second radar sensors, the computing system configured to:

control the first radar sensor such that the first radar sensor scans a sub-surface detection zone of a field before a seed is deposited within the sub-surface detection zone; receive first radar sensor data including a plurality of first radar data points from the first radar sensor, each first radar data point corresponding to a parameter associated with a reflection of an output signal emitted by the first radar sensor from a given location within the sub-surface detection zone;

populate a first matrix including a plurality of cells with the plurality of first data points such that each first data point is placed within a cell corresponding to the given location within the sub-surface detection zone;

after controlling the first radar sensor, control the second radar sensor such that the second radar sensor scans the sub-surface detection zone of the field after the seed is deposited within the sub-surface detection zone;

receive second radar sensor data including a plurality of second radar data points from the second radar sensor, each second radar data point corresponding to a parameter associated with a reflection of an output signal emitted by the second radar sensor from a given location within the sub-surface detection zone;

populate a second matrix including a plurality of cells with the plurality of second data points such that each second data point is placed within a cell corresponding to the given location within the sub-surface detection zone;

determine a correlation between the first and second matrices; and

determine a location of the seed based on the determined correlation between the first and second matrices.

7 . The system of claim 6 , wherein, when determining the correlation, the computing system is configured to:

compare the generated first matrix to the generated second matrix to determine the location of the seed.

8 . The system of claim 6 , wherein, when determining the correlation, the computing system is further configured to:

determine a plurality of correlation values, each correlation value being indicative of a correlation between the parameter of a given cell in the first matrix and a parameter of a cell at a corresponding location within the second matrix.

9 . The system of claim 8 , wherein, when determining the location of the seed, the computing system is further configured to:

determine a minimum correlation value of the plurality of correlation values; and

determine the location of the seed based on a location of the cells having the minimum correlation value within the first matrix and the second matrix.

10 . The system of claim 8 , wherein, when determining the location of the seed, the computing system is further configured to:

compare a given correlation value to a threshold value; and

disregard as clutter the parameter value of a cell within the first matrix and the parameter value of a cell within the second matrix corresponding to the given correlation value when the given correlation value exceeds the threshold value.

11 . The system of claim 6 , wherein the location of the seed comprises a depth of the seed below a surface of the field.

12 . The system of claim 6 , wherein the parameter associated with the reflection of the output signal emitted by the first radar sensor and the parameter value associated with the reflection of the output signal emitted by the second radar sensor are indicative of a phase of the reflections.

13 . The system of claim 6 , wherein the parameter associated with the reflection of the output signal emitted by the first radar sensor and the parameter value associated with the reflection of the output signal emitted by the second radar sensor are indicative of a magnitude of the reflections.

14 . The system of claim 6 , wherein the parameter associated with the reflection of the output signal emitted by the first radar sensor and the parameter value associated with the reflection of the output signal emitted by the second radar sensor are indicative of a time domain of the reflections.

15 . The system of claim 6 , wherein the computing system is configured to control an operation of the seed-planting implement based on the determined location of the seed.

16 . A method for determining seed placement during a seed-planting operation, the method comprising:

controlling, with a computing system, a first radar sensor such that the first radar sensor scans a sub-surface detection zone of a field before a seed is deposited within the sub-surface detection zone;

receiving, with the computing system, first radar sensor data including a plurality of first radar data points from the first radar sensor, each first radar data point corresponding to a parameter associated with a reflection of an output signal emitted by the first radar sensor from a given location within the sub-surface detection zone;

populating, with the computing system, a first matrix including a plurality of cells with the plurality of first data points such that each first data point is placed within a cell corresponding to the given location within the sub-surface detection zone;

after controlling the first radar sensor, controlling, with the computing system, a second radar sensor such that the second radar sensor scans the sub-surface detection zone of the field after the seed is deposited within the sub-surface detection zone;

receiving, with the computing system, second radar sensor data including a plurality of second radar data points from the second radar sensor, each second radar data point corresponding to a parameter associated with a reflection of an output signal emitted by the second radar sensor from a given location within the sub-surface detection zone;

populating, with the computing system, a second matrix including a plurality of cells with the plurality of second data points such that each second data point is placed within a cell corresponding to the given location within the sub-surface detection zone;

determining, with the computing system, a correlation between the first and second matrices;

determining, with the computing system, a location of the seed based on the determined correlation between the first and second matrices; and

controlling, with the computing system, an operation of the seed-planting implement based on the determined location of the seed.

17 . The method of claim 16 , wherein determining the correlation comprises:

comparing, with the computing system, the generated first matrix to the generated second matrix to determine the location of the seed.

18 . The method of claim 16 , wherein determining the correlation comprises:

determining, with the computing system, a plurality of correlation values, each correlation value being indicative of a correlation between the parameter of a given cell in the first matrix and a parameter of a cell at a corresponding location within the second matrix.

19 . The method of claim 18 , wherein determining the location of the seed comprises:

determining, with the computing system, a minimum correlation value of the plurality of plurality of correlation values; and

determining, with the computing system, the location of the seed based on a location of the cells having the minimum correlation value within the first matrix and the second matrix.

20 . The method of claim 18 , wherein determining the location of the seed comprises:

comparing, with the computing system, a given correlation value to a threshold value; and

disregarding, with the computing system, as clutter the parameter value of a cell within the first matrix and the parameter value of a cell within the second matrix corresponding to the given correlation value when the given correlation value exceeds the threshold value.

Assignments (2)

Continuity (1)

References Cited (17)