Patent Description:
In some background art, a planter can control selectively the row units of an implement, such as a planter. Further, an automatic guidance system may be used to guide a vehicle, or its implement to track a path plan. However, previous planting paths of an implement during the same season may interfere with subsequent planting paths of the implement during the same season, which can reduce crop yields and waste crop inputs, like seeds. With some agricultural practices, a buffer zone or headlands region around the field could be left unplanted to reduce such interferences albeit with a potential yield penalty for the unplanted buffer zone. Thus, there is a need for a method and system for precise planting based on planned paths (e.g., to efficiently use crop inputs for maximum potential yield). <CIT> relates to a path planner and method for planting path plans having spiral components for improving planting energy efficiency. <CIT> describes a path planner and method for planning contour paths around obstacles for improving planting energy efficiency.

In accordance with one embodiment, a method and system facilitates precise planting based on planned paths. A path planning module or electronic data processor is configured to establish a path plan for an implement (e.g., planter) to cover a first area of the field at least once with a sequence of path segments in which some path segments are generally parallel to each other and spaced apart. A path interference estimator or the electronic data processor is configured to estimate potential interference between two or more path segments with respect to a first path segment and a second path segment, wherein the first path segment is associated with an earlier scheduled portion of the sequence and the second path segment is associated with a later scheduled portion of the sequence. An exclusion zone module or the electronic data processor is configured to determine an exclusion zone for the implement (e.g., row units of a planter) to prohibit planting of one or more rows of seeds or seedlings within the exclusion zone based on the estimated potential interference. Responsive to user input via the user interface, the electronic data processor is configured to activate or execute the path plan and determined exclusion zone in accordance with the established path plan and determined exclusion zone.

<FIG> is one embodiment of a block diagram of a system <NUM> for determining a path plan for an off-road vehicle (e.g., <NUM> in <FIG>) to control an implement (e.g., <NUM> in <FIG>). In <FIG>, alone or together with <FIG>, the system <NUM> is capable of detecting motion data and attitude data by one or more sensors, such as one or more location-determining receivers (<NUM>, <NUM>), one or more accelerometers (<NUM>, <NUM>), gyroscope <NUM>, or an internal measurement unit (IMU) (<NUM>, <NUM>) that use accelerometers or gyroscopes. In one example, the system <NUM> may send a path plan or data message to an operator or end user of the detection system <NUM> via a wireless communications channel and via a user interface <NUM> that is incorporated into a vehicle, such as a display <NUM>. In an alternate embodiment, the user interface <NUM> and display <NUM> may be located remotely from the vehicle via a wireless link to support remote control or tele-operation of the vehicle by the operator.

In one embodiment, the system <NUM> comprises an electronic data processing system <NUM> that is coupled to a location-determining receiver <NUM> directly, or via a vehicle data bus <NUM>. The optional connection via vehicle data bus <NUM> is shown in dashed lines because it is optional and the connection between the electronic data processing system <NUM> and location-determining receiver <NUM> may be direct, as indicated by transmission line <NUM>, which can be used separately or cumulatively with the interconnection via the vehicle data bus <NUM>. The location-determining receiver <NUM> may have an antenna <NUM> mounted on the vehicle, on the implement or both.

In an alternate embodiment, a first location-determining receiver <NUM> and its antenna <NUM> are on or in the vehicle (e.g., <NUM> in <FIG>); a second location-determining receiver <NUM> (in <FIG>) and its antenna are on or in the implement (e.g., <NUM> in <FIG>), where both the first location-determining receiver <NUM> and the second-location determining receiver <NUM> may comprise satellite navigation receivers (with or without differential correction data) or other location-determining receivers.

In one embodiment, the electronic data processing system <NUM> comprises an electronic data processor <NUM>, one or more data ports <NUM>, a user interface <NUM> and a data storage device <NUM> coupled to a data bus <NUM>. The electronic data processor <NUM> may comprise a processor, a microcontroller, a digital signal processor, an application specific integrated circuit (ASIC), a programmable logic array, a programmable logic device, a logic circuit, an arithmetic logic unit, a Boolean logic device, or another data processing device. The data storage device <NUM> may comprise one or more of the following: electronic memory, nonvolatile electronic memory, an optical data storage device, a magnetic data storage device, or other device for storing digital or analog data.

In one embodiment, the data storage device <NUM> may store, retrieve, read and write one or more of the following items: a guidance module <NUM>, a path planning module <NUM>, a path interference estimator <NUM>, an exclusion zone module <NUM>, and an implement control module <NUM> (e.g., row unit control module). A module means software, electronics, or both, where software can include software instructions, executable files, data structures, and libraries, among other things.

As used in this document, configured to, adapted to and arranged to may refer any of the following items: (<NUM>) software or program instructions that are stored in the data storage device <NUM> or other data storage and executable by the data processor <NUM> to perform certain functions, software, (<NUM>) software or embedded firmware that are stored in the location-determining receiver (<NUM>, <NUM>) or its memory or data storage to perform certain functions, or (<NUM>) electronic, electrical circuits or modules that can perform substantially equivalent functions to the software, embedded firmware or program instructions.

Any data port <NUM> may comprise a data transceiver, buffer memory, or both. The user interface <NUM> may comprise one or more of the following: a display <NUM> (e.g., display), a touch screen display, a keypad, a keyboard, a control panel, a pointing device (e.g., electronic mouse), or another device for entry or output of data from the data processing system <NUM>.

In one embodiment, a wheel angle sensor <NUM>, one or more accelerometers (<NUM>, <NUM>), a rotational speed sensor <NUM>, an optional IMU (<NUM>, <NUM>) and a data bus <NUM> are coupled to the data ports <NUM>. The electronic data processing system <NUM> communicates to data ports <NUM> directly, or indirectly via the data bus <NUM>. Further, the data ports <NUM> support the communication of data messages to, from or between, or among any of the following: the electronic data processor <NUM>, the data storage device <NUM>, any modules, data, files, libraries, or software within the data storage device <NUM>, the location-determining receiver (<NUM>, <NUM>) the wheel angle sensor <NUM>, one or more accelerometers (<NUM>, <NUM>), a rotational speed sensor <NUM>, an optional IMU and a data bus <NUM>.

In one embodiment, the optional IMU <NUM> is a separate device, whereas in other embodiments, the IMU <NUM> is integral with the location-determining receiver <NUM>. The optional separate IMU <NUM> comprises one or more accelerometers <NUM> and a gyroscope <NUM>, where the accelerometers <NUM> may be arranged on orthogonal axes with respect to each other to facilitate detection of vehicle attitude, such as roll angle, pitch angle and yaw angle of a vehicle.

In <FIG>, the steering controller <NUM>, the propulsion controller <NUM> and the braking controller <NUM> are coupled to the vehicle data bus <NUM>. For example, the data processing system <NUM> can communicate with the steering controller <NUM>, the propulsion controller <NUM> and the braking controller <NUM>, and vice versa. In one embodiment, the steering controller <NUM> is coupled to the steering system <NUM>, such as an electrical motor or electrohydraulic device that is mechanically coupled to a steering mechanism (e.g., rack-and-pinion or Ackerman steering system) for controlling the angular orientation of one or more wheels about a generally vertical axis. In one embodiment, the propulsion controller <NUM> may comprise an electronic engine controller for controlling a throttle or fuel metering system of a propulsion system <NUM>, such as internal combustion engine. In another embodiment, a propulsion controller <NUM> may comprise an inverter or motor controller for controlling a propulsion system <NUM>, such as a drive motor of a hybrid or electric vehicle. In one embodiment, the braking controller <NUM> interfaces with a braking system <NUM>, such as hydraulic braking system, an electrohydraulic braking system, a cable braking system, or an electromechanical braking system to stop or decelerate the vehicle.

In one configuration, the guidance module <NUM> controls the vehicle to track or follow a path plan, a planned path, such as sequence of one or more interconnected path segments, where one or more path segments may comprise any of the following: generally straight path segments, curved path segments, arced path segments, or otherwise. Within a sequence of a path plan or planned path, a guidance module <NUM> or path planning module <NUM> is configured to execute or process a previous or prior path segment before execution or processing of a present, subsequent or later path segment. Further, a path plan may comprise a generally linear path plan, a curved path plan, a contour path plan, a spiral path plan, a coverage area path plan, or other path plan, For example, a path plan may comprise any of the following: one or more linear path segments or rows, curved path segments or turns, such as an end turn, a key-hole end turn, a loop end turn, a row-skipping end turn. In the automated guidance mode, in certain vehicle configurations the guidance module <NUM> can control the steering, propulsion, and braking of the vehicle. For example, in the automated guidance mode, the guidance module <NUM> can communicate with one or more of the following controllers to direct and guide the vehicle: steering controller <NUM>, propulsion controller <NUM> and braking controller <NUM>.

In <FIG> in accordance with one embodiment, the system <NUM> comprises one or more location-determining receivers (<NUM>, <NUM>) for estimating a position, motion, and attitude data of the vehicle (<NUM> in <FIG>), or its implement (e.g., <NUM> in <FIG>), or both. As used in the disclosure, attitude refers to roll angle, pitch angle and yaw angle, or motion data associated with roll angle, pitch angle and yaw angle. As used in the disclosure, motion data comprises velocity data (e.g., speed data), acceleration data, or both. The velocity data and acceleration data may be expressed as vectors. As used in the disclosure, a yaw angle or heading can refer to: (<NUM>) an angular direction of travel of the vehicle with reference to due North or magnetic North, or (<NUM>) a yaw or yaw angle of the vehicle with reference to coordinate system, such as a Cartesian coordinate system.

In an alternate embodiment, a first location-determining receiver <NUM> or its antenna <NUM> is mounted on the vehicle for estimating a position, motion or attitude data of the vehicle (<NUM> in <FIG>) and a second location-determining receiver <NUM> is mounted on the implement (e.g., <NUM> in <FIG>) for estimating a position, motion or attitude data of the implement that is coupled to the vehicle; position, motion and attitude data is available for the vehicle, its implement or both for processing by the electronic data processor <NUM> to execute the software instructions associated with modules, estimators, or other components within the data storage device <NUM>.

In one embodiment, the location-determining receiver (<NUM>, <NUM>) (e.g., satellite navigation receiver), alone or together with a wireless communications device, has a pair of antennas <NUM> that are spaced apart with a known orientation. Further, the location-determining receiver (<NUM>, <NUM>) or the electronic data processor <NUM> can couple (e.g., selectively or switchably in rapid succession during the same epoch) either antenna <NUM> of the pair of antennas <NUM> to support estimation of the attitude of the pair of antennas when the vehicle or implement is at a fixed position or substantially the same position. For example, the pair of antennas <NUM> are spaced apart by a known distance on an axis with a known or fixed orientation (e.g., compound angular offset in one or more dimensions) to the longitudinal axis (in the direction of travel of the vehicle) and vertical axis of the vehicle. The location-determining receiver (<NUM>, <NUM>) may estimate a first position (e.g., in three dimensions) of the first antenna <NUM> and a second position (e.g., in three dimensions) of the second antenna <NUM>. Accordingly, the data processor or the location-determining receiver (<NUM>, <NUM>) may estimate the precise attitude (e.g., yaw data, roll data, or both) of the vehicle, or its implement, based on the first position and the second position for the same epoch or measurement period, with or without augmentation by the correction data.

In one embodiment, a wireless communications device (<NUM>, <NUM>) is coupled to a data port of a location-determining receiver (<NUM>, <NUM>) or a vehicle data bus <NUM> to augment the received satellite signals and associated carrier phase measurements of the received satellite signals (e.g., of at least four satellites) at the location-determining receiver (<NUM>, <NUM>). For example, the wireless communications device (<NUM>, <NUM>) may comprise a separate receiver or transceiver (e.g., satellite, cellular, or wireless device) may receive the correction data or differential correction data via a wireless signal transmitted from a satellite or a terrestrial base station (e.g., real-time kinematic (RTK) base station). The wireless communications device (<NUM>, <NUM>) may receive correction data from one or more of the following sources of correction data: (a) differential correction data from local base stations or local reference receivers operating in a real-time-kinematic (RTK) mode, (b) correction data associated with a precise-point-position (PPP) satellite navigation system with precise orbital correction data for satellites and satellite clocks in a PPP mode, (c) correction data applicable to a satellite navigation system, and correction data (e.g., carrier-phase offset or position vector offset) provided from a hub or central processing center in communication a network of reference satellite navigation receivers, and (d) other correction data is commercially available from local, wide-area, regional, or global correction or satellite data augmentation services.

In one embodiment, the location-determining receiver (<NUM>, <NUM>) provides one or more of the following types of data for a vehicle, and/or its implement: yaw data (e.g., heading data), roll data, pitch data, position data, velocity data, and acceleration data (e.g., as vectors or in two or three dimensional coordinates). The location-determining receiver (<NUM>, <NUM>) may comprise a satellite navigation receiver, a Global Navigation Satellite System (GNSS) receiver, a Global Positioning System (GPS) receiver, or another receiver for determining position data, motion data or attitude data. In one embodiment, a location-determining receiver (<NUM>, <NUM>) provides location data, path heading data, vehicle heading data, velocity data, and acceleration data along target path or path plan to the data processing system <NUM> or guidance module <NUM>.

In one embodiment, an optional separate inertial measurement unit <NUM> (IMU) may be separate from the location-determining receiver <NUM> or an optional integral IMU <NUM> may be integrated with the location determining receiver <NUM>. The optional nature of the separate IMU <NUM> and the integral IMU <NUM> is indicated by dashed lines in <FIG>. The separate IMU <NUM> or the integral IMU <NUM> can estimate the attitude, yaw angle, yaw rate, roll, roll rate, pitch angle, pitch rate for the vehicle, or its implement, for instance. The yaw rate may refer to yaw angular velocity, yaw angular acceleration or both; the roll rate may refer to roll angular velocity, roll angular acceleration or both; the pitch rate may refer to pitch angular velocity, pitch angular acceleration or both.

In one configuration, the data processing system <NUM> comprises a roll sensor, pitch sensor and a yaw sensor. Any roll sensor, pitch sensor and yaw sensor may comprise an accelerometer (e.g., <NUM>, <NUM>), a three-axis accelerometer, a gyroscope, an IMU, or another sensor. In general, each sensor, such as roll sensor, which is based on accelerometer measurements and/or gyroscope measurements, is subject to bias in their measurements that may arise over time, unless the sensor is calibrated or recalibrated (e.g., by the carrier phase measurements of the location-determining receiver (<NUM>, <NUM>).

In one embodiment, the roll sensor comprises a first accelerometer <NUM> that is configured to measure roll angle, roll angular velocity, and/or roll angular acceleration of the vehicle. Similarly, the pitch sensor comprises a second accelerometer <NUM> that is configured to measure pitch angle, pitch angular velocity and/or pitch angular acceleration of the vehicle. In one configuration, the roll sensor and the pitch sensor may provide attitude data and motion data, such as roll data and pitch data, that the electronic data processor <NUM> can use to determine a surface roughness estimate.

In another embodiment, the accelerometers (<NUM>, <NUM>), gyroscopes <NUM> or IMU (<NUM>, <NUM>) of the data processing system <NUM> detect or measure one or more of the following: pitch angle, pitch motion data, roll angle and roll motion data.

In one embodiment, a motion sensor is configured to detect motion data of an off-road vehicle traversing a field or work site during a sampling interval. The motion data comprises ground speed or velocity of the off-road vehicle, or its implement. A first sensor (e.g., accelerometer <NUM> or IMU (<NUM>, <NUM>)) is configured to: (a) detect pitch data of the off-road vehicle, or its implement, for the sampling interval to obtain a pitch acceleration, or (b) detect pitch angular acceleration data for the sampling interval. A second sensor (e.g., accelerometer <NUM> or IMU (<NUM>, <NUM>)) is configured to: (a) detect roll data of the off-road vehicle, or its implement, for the sampling interval to obtain a roll acceleration, or (b) detect roll angular acceleration data of the off-road vehicle, or its implement, for the sampling interval. If the first sensor only detects pitch angle with respect to time, the electronic data processor <NUM> is configured to derive the pitch angle acceleration from a derivative of the detected pitch angle with respect to time. Similarly, if the second sensor only detects roll angle with respect to time, an electronic data processor <NUM> is configured to derive the roll angle acceleration from a derivative of the detected roll angle with respect to time.

In one embodiment, a rotational speed sensor <NUM> is configured to measure a drivetrain-derived wheel speed.

In <FIG>, the electronic data processor <NUM> or a path planning module <NUM> is configured to determine a path plan, such as prior path plan comprising one or more prior path segments and later path plan comprising one or more later path segments. The exclusion zone module <NUM> may be configured to estimate exclusion points or exclusion zones (e.g., cells) with reference to the path plan, planned paths or any constituent prior path segments, later path segments or both, as a vehicle (e.g., <NUM> in <FIG>) prepares to traverse or traverses the field or work site over multiple sampling intervals.

An electronic data processor <NUM> or path planning module <NUM> is configured to generate a graphical display <NUM> that illustrates one or more estimated zones (e.g., exclusions zones <NUM> or exclusion points <NUM>) of corresponding path plan within the field or work site. Further, an end user interface <NUM> is adapted to display <NUM> the graphical display <NUM> to a user or operator of the vehicle. In some configurations, the graphical display that illustrates proposed, candidate or existing path plans and exclusion zones (e.g., <NUM>) for the vehicle <NUM> and/or implement <NUM>, although graphical representations fall within the scope of the disclosure and appended claims.

A location-determining receiver (<NUM>, <NUM>) can determine a position of a vehicle (<NUM>), or its implement (<NUM>), in the field or in the work site with respect to the estimated zones, such as headland regions of a field, a central region of a field, exclusion zones and exclusion points along a path plan or path segment.

In one embodiment, the exclusion zone module <NUM> can be operated in accordance with various techniques, which may be applied separately or cumulatively. Under a first technique, an exclusion zone module <NUM> is configured to estimate exclusion-zone settings (e.g., target exclusion-zone settings) for the implement <NUM> consistent with alignment and/or overlap of the determined position (e.g., in two or three dimensional coordinates) of the implement <NUM> (or vehicle <NUM>) and the estimated exclusion zones <NUM> or exclusion points <NUM>. Under a second technique, an exclusion zone module <NUM> configured to estimate exclusion-zone settings (e.g., target exclusion-zone settings) associated with the corresponding row units <NUM> of the implement <NUM> consistent with alignment and/or overlap of the determined position of the implement <NUM> and the estimated exclusion zones <NUM> or exclusion points <NUM>, where different row units <NUM> can have different exclusion-zone settings if the different row units <NUM> of the implement fall within different estimated exclusion-zones of the corresponding exclusion zone ranges.

As illustrated in <FIG> in conjunction with <FIG> or <FIG>, the implement control module <NUM> or actuator controller <NUM> can be operated in accordance with various procedures that may be applied separately or cumulatively. Under a first procedure, an implement control module <NUM>, the actuator controller <NUM>, or both are configured to control an actuator (<NUM>, <NUM>) (e.g., via an interface (<NUM>, <NUM>)) to adjust the estimated down-force setting for corresponding zones. Under a second procedure, an implement control module <NUM>, actuator controller <NUM>, or both are configured to control an actuator (<NUM>, <NUM>) (e.g., via an interface <NUM>, <NUM>) to increase or increment the down-force setting for a primary corresponding zones of a field, or to decrease or decrement the down-force setting for a secondary corresponding zones of a field to transition between different down-force settings.

The system <NUM> of <FIG> is similar to the system <NUM> of <FIG>, except the system <NUM> further comprises an imaging system <NUM>, a second location determining receiver <NUM>, a wireless communications device <NUM>. As illustrated the imaging system <NUM> is coupled to one or more data ports <NUM> of the data processing system <NUM>. Like reference numbers in <FIG> and <FIG> indicate like features or elements.

In one embodiment, the imaging system <NUM> is configured to collect image data of the field or work site in a forward field of view of the vehicle in one or more electromagnetic frequency bands or wavelengths, such as humanly visible light, infra-red radiation, ultra-violet radiation, or the like. For example, the imaging system <NUM> may comprise a stereo imaging system or stereo camera for collecting stereoscopic images or three-dimensional image clouds or three-dimensional image constellations of ground regions within the field of view (e.g., forward facing region or zone in front of the vehicle <NUM>). In some configurations, the imaging system <NUM> or electronic data processor <NUM> can align (e.g., or stitch together) successive local images to assemble an aggregate view of an entire field or work area that is traversed or surveyed by the off-road vehicle equipped with the imaging system <NUM>. For example, the imaging system <NUM> or electronic data processor <NUM> may assign or identify two or three dimensional reference points in successive local images to spatially align successive images to assemble an aggregate view of an entire field or work area.

The second location-determining receiver <NUM> is the same or similar to the location-determining receiver <NUM>, which may be referred to as the first location determining receiver. However, the first location-determining receiver <NUM> may be mounted on or in the vehicle <NUM>, or its implement <NUM>. If both a first location-determining receiver <NUM> and second location-determining receiver <NUM> are present, the second location-determining receiver <NUM> is typically mounted on or in the implement <NUM> and the first location-determining receiver <NUM> is mounted on or in the vehicle <NUM>. The wireless communications device <NUM> is the same or similar to the wireless communications device <NUM>. For example, the wireless communications device <NUM> is coupled to the second location-determining receiver <NUM> to provide correction data to it.

In accordance with one embodiment, a method and system facilitates precise planting based on planned paths, consistent with exclusion points <NUM> or exclusion zones <NUM> along paths where seeds are not planted for one or more row units <NUM> to reduce potential damage to previously planted seeds or seedlings near or within the exclusion points <NUM> or exclusion zones <NUM>. The system comprises an electronic data processor <NUM> is coupled to data storage device <NUM> for storing one or more modules or software instructions that are executable by the data processor <NUM>. In one embodiment, the system comprises a path planning module <NUM> or electronic data processor <NUM> configured to establish a path plan for a planter to cover a first area of the field at least once with a sequence of path segments in which some of the path segments are generally parallel to each other and spaced apart. A path interference estimator <NUM> or the electronic data processor <NUM> is configured to estimate potential interference between two or more path segments with respect to a first path segment (e.g., earlier or prior path segment) and a second path segment (e.g., present or later path segment), wherein the first path segment is associated with an earlier scheduled portion of the sequence and the second path segment is associated with a later scheduled portion of a sequence of path segments within a planned path or path plan. An exclusion zone module <NUM> or the electronic data processor <NUM> is configured to determine an exclusion zone <NUM> for one or more row units <NUM> of the implement (e.g., planter) to prohibit planting of one or more rows of seeds or seedlings within the exclusion zone <NUM> based on the estimated potential interference. Responsive to user input via the user interface <NUM>, the electronic data processor <NUM> is configured to activate or execute the path plan and determined exclusion zone <NUM> in accordance with the established path plan and determined exclusion zone <NUM>.

<FIG> is a perspective view of an off-road vehicle <NUM> (e.g., tractor) that is towing a planting implement <NUM> of multiple row units <NUM> with adjustable down-force in accordance with a data map (<NUM>, <NUM>) of down-force zones (e.g., cells or adjoining hexagonal cells that comprise a field). Row units <NUM> are associated with the implement <NUM> that is coupled to the off-road vehicle <NUM>. Moreover, electronic data processor <NUM> or implement control module <NUM> of the data processing system <NUM> may selectively activate seeding or planting of one or more row units <NUM>, independently from other row units (e.g., as the implement traverses a path plan or path segment of a path plan). For example, if the implement <NUM> or planter comprises a first row unit <NUM> through an Nth row unit, where N equals any positive integer greater than two, one or more of the row units <NUM>, among the first row unit to the Nth row unit, inclusive, may be activated for a corresponding geographic zone, cell or row segment, path segment or portion of the field, and/or during a certain activation time interval, which may be proportional to the velocity and speed of the implement <NUM> or planter, or a particular row unit <NUM>. (e.g., stop, pause or suspend seeding or planting for time period).

<FIG> is a side view of one embodiment of a row unit <NUM>, with adjustable down-force and adjustable seeding rate to pause, disable, stop, or interrupt seeding for a no-planting time period within an exclusion zone <NUM> or at one or more successive exclusion points <NUM>, of the planting implement of <FIG>.

Each row unit <NUM> is mounted on a traverse member <NUM> of an implement <NUM> by a bracket <NUM> that is spaced apart from a horizontal frame member <NUM>. One or more arms <NUM> are pivotably connected to the bracket <NUM> and to the horizontal frame member <NUM> at pivot points <NUM> to allow the vertical height of the horizontal frame member <NUM> to vary (e.g., with respect to the ground) from the vertical height of the transverse member <NUM>; hence, to allow for some adjustment in the down-force applied to any of the following: the closer <NUM>, the planting disk <NUM>, and the opener <NUM>.

As illustrated in <FIG> a pneumatic cylinder <NUM> is secured to the bracket <NUM> at one end (or an upper bracket portion) and secured (e.g., pivotably attached) to one of the arms <NUM> on the opposite end to adjust the down-force applied to any of the following: the closer <NUM>, the planting disk <NUM>, and the opener <NUM>; or alternately, or cumulatively, to allow for the adjustment of the depth of the planted seed or the seed tube <NUM>.

In <FIG>, a block diagram is associated with the pneumatic cylinder <NUM>, where the block diagram comprises an actuator controller <NUM> that is coupled to an electro-pneumatic interface <NUM>. The actuator controller <NUM> can be coupled to the data ports <NUM> of the data processing system <NUM> of <FIG> or <FIG>, for example. Meanwhile, the electro-pneumatic interface <NUM> may be associated with pneumatic system or pump to control the pressure or flow of air or nitrogen in the pneumatic cylinder <NUM> to control the planting depth or down-force of the row unit <NUM>, or in tandem with one or more other row units <NUM> of the implement <NUM>.

In one embodiment, a seed container <NUM> or seed hopper is supported by or above the horizontal frame member <NUM>. The seed container <NUM> feeds seeds into a seed metering device <NUM> that is generally below the seed container <NUM>. In some configurations, the seed metering device <NUM> meters or controls the spacing of the seeds (planted in a row, furrow, depression or trench in the soil) based on or proportional to the ground speed of the implement <NUM> (e.g., planter).

In the front of the planter, there is an opener <NUM> or opening wheel <NUM> that opens a furrow or trench in the soil. Behind the opener <NUM>, there is planting disk <NUM> that is associated with an end of a seed tube <NUM> or seed exit <NUM> in which seeds are dispensed into the opened furrow or trench in the soil. Behind the planting disk <NUM> and the seed exit <NUM>, a closer <NUM> closes the trench or furrow or covers the planted seed with soil. As illustrated, the support <NUM> supports the opener <NUM>, planting disk <NUM>, and the closer <NUM>.

<FIG> is a side view of another embodiment of a row unit <NUM>, with adjustable down-force, of the planting implement of <FIG>. Like reference numbers in any two drawings, such as <FIG>, <FIG>, <FIG>, <FIG> and <FIG> indicate like elements. For example, the row unit <NUM> of <FIG> is similar the row unit <NUM> of <FIG>, except the row unit <NUM> replaces the pneumatic cylinder <NUM> with a hydraulic cylinder <NUM>, or an electric actuator (e.g., linear motor or rotary electric motor with a screw assembly).

As illustrated in <FIG>, the hydraulic cylinder <NUM> is secured to the bracket <NUM> at one end (or to an upper bracket portion) and secured to one of the arms <NUM> on the opposite end to allow for some adjustment in the down-force applied to any of the following: the closer <NUM>, the planting disk <NUM>, and the opener <NUM>; alternately or cumulatively, the allow for adjustment of the depth of the planted seed or the seed exit <NUM> of the seed tube <NUM>.

In <FIG>, a block diagram is associated with the hydraulic cylinder <NUM>, where the block diagram comprises an actuator controller <NUM> that is coupled to an electro-hydraulic interface <NUM>. The actuator controller <NUM> can be coupled to the data ports <NUM> of the data processing system <NUM> of <FIG> or <FIG>, for example. Meanwhile, the electro-hydraulic interface <NUM> may be associated with hydraulic system or pump to control the pressure or flow of hydraulic fluid in the hydraulic cylinder <NUM> to control the planting depth or down-force of the row unit <NUM>, or in tandem with one or more other row units <NUM> of the implement <NUM>. In an alternate embodiment, the electrohydraulic interface <NUM> is optional and is not required if the hydraulic cylinder <NUM> is replaced with an electric actuator.

Under one technique, the exclusion zone <NUM> comprises a travel segment configured to the width of the vehicle <NUM> or the implement <NUM>. The travel segment may comprise a path segment or set of path segments that are joined together end to end to form a continuous or circuitous path for the vehicle <NUM> or implement <NUM>, where each path segment may be substantially straight, curved (e.g., Bezier curve), arced, or otherwise configured in into a path or set of path segments that the vehicle or implement is capable of tracking, given width, dimensions, turning radius and other components.

<FIG> illustrates a possible path plan <NUM> of a gap <NUM> in planted seeds or seedlings in a headland region <NUM> where, in a basic or simple configuration, all row units <NUM> of an implement <NUM> simultaneously stop, pause or suspend planting of seeds for a time period. In <FIG>, there tends to be overlap of central path segments <NUM> (e.g., generally linear path segments) that exit a central region <NUM> of the field with headland path segments <NUM> (e.g., an outer lap, outer pass, or segment that is generally linear in <FIG>) within a headland region <NUM> or headland zone. As used throughout this document, the vehicle <NUM> and/or implement <NUM> may track or traverse path segments, passes, rows or sequences of path segments, passes or rows. For example, path segments and passes may be regarded as synonymous terms; similarly, path segments and rows may be regarded as synonymous terms. Rows may also refer to rows of seeds, seedlings or plants that have been planted or seeded during a prior path segment or previously by one or more row units <NUM> of the implement <NUM>. As illustrated in <FIG>, the headland region <NUM> is a zone of the field that is bounded or defined by an inner boundary (e.g., inner substantially rectangular border with rounded corners) and an outer boundary (e.g., outer substantially rectangular border with rounded corners). The central region <NUM> of the field is the region within the inner boundary of the headland region <NUM>.

In one illustrative example the vehicle <NUM> and/or the implement <NUM> traverses the dashed lines (<NUM>, <NUM>) that are generally perpendicular to each other and also a curved path segment <NUM> of an end turn of <FIG>. In the headland region <NUM>, to the extent that the implement <NUM> crosses or traverses in the direction of travel along generally linear headland path segments <NUM>, for a planting-suspension time period the implement <NUM> (e.g., planter automatically or responsive to operator (manual) commands) may stop planting seeds or seedlings for all row units <NUM> of an implement <NUM> in a simple configuration during a common time period (e.g. or for one or more row units <NUM> in a complex configuration for various discrete time periods). Here, in <FIG>, the implement <NUM> (e.g., planter) makes a generally linear headland pass or traverses a substantially linear headland path segment <NUM> with gaps <NUM> illustrated in the headland path segments <NUM>. No seeds or seedlings are planted within the gaps <NUM> or within one or more rows or row units <NUM> of the implement <NUM>.

After the implement <NUM> traverses in a direction of travel along the path segments <NUM>, the implement <NUM> completes a curved path segment <NUM> or end turn (e.g., end of row turn) in the headland region <NUM>. At least a portion of the end turn or curved path segment <NUM> of the implement <NUM> may be aligned with the gap <NUM> in the previous or upcoming headland path segments <NUM> to avoid or minimize potential damage to seeds, seedlings or plants in the headland region <NUM>. However, the curved path segment <NUM> tends to extend outside the gap <NUM> before it can be aligned with (e.g., turned at approximately a right angle to align with) the headland path segment (<NUM> or <NUM>); hence, in the headland region <NUM> damage to previously planted seeds or seedlings may occur because of some inherent misalignment of the gap <NUM> with the vehicle and/or implement path, and its curved path segment <NUM>.

<FIG> illustrates a possible subsequent or later path plan <NUM> that an off-road vehicle and/or a towed implement may follow or track in a field or work area. The later path plan <NUM> or its later path segments are indicated with bold dashed lines in <FIG>. As used throughout this document, any path segment is a straight section, curved section, or contour section of a path plan of the vehicle, and/or a towed implement, where the section or segment is bounded by two points on the path plan and where the two points on the path plan may be defined with reference to, or translated to, real world coordinates of the vehicle, and/or its implement along a center-line of the vehicle and/or implement in the direction of travel. Meanwhile, a previous or prior path plan <NUM> or its prior path segments are indicated by parallel contour segments. A complete path plan may comprise the prior path segments of a prior path plan <NUM> and the later path segments of a later path plan <NUM>, or a sequence of the prior path segments of a prior path plan <NUM> and the later path segments of a later path plan <NUM>.

In <FIG>, one or more prior path segments and later path segments of the complete path plan (<NUM>, <NUM>) overlap with each other during turning or a curved path segment <NUM> of an off-road vehicle and/or towed planting implement in accordance with the disclosure. For example, the prior headland path segment (of prior path plan <NUM>) of the implement can interfere with or overlap with a present or later curved path segment <NUM> or end-turn segment of the implement (e.g., after the implement exits a central portion <NUM> of the field and enters the headland region <NUM>).

In one example, as the curvature of curved path segment <NUM> of an end turn (e.g., later or subsequent pass or segment of a sequence of the path plan) exceeds the curvature of the prior path segments of prior path plan <NUM> (e.g., prior headland pass or prior segment of a sequence of the path plan) the interference or overlap defines exclusion points <NUM>, which can be bounded by exclusion zones <NUM> or aggregated to define exclusion zones (e.g., to account for any uncertainty in the estimated position, heading, velocity, acceleration and/or attitude (pitch, roll or yaw angle) of the vehicle or implement). Here, in <FIG>, the exclusion points <NUM> are indicated by X's on or that intercept the present or later path plan <NUM>. Similarly, the exclusion zones <NUM> are indicated as rectangles, although they could be defined as substantially hexagonal, circular, polygonal, elliptical or with other suitable geometric shapes.

In another example, the prior pass or prior segment of prior path plan <NUM> (e.g., in the headland region <NUM>) is somewhat parallel to the later pass or later segment of the present or later path plan <NUM> for one or more row units of the implement, but does not have proper full row alignment between the prior path segment and the later path segment of the implement. For instance, there may be an intermediate or fractional row alignment between the prior path segment and the later path segment of the implement and its row units, which is consistent with closer spacing than a standard row separation or standard row spacing between potential seeds or seedlings of the prior path segment and later path segment for one or more row units. The closer spacing makes the seeds or seedlings in the plant rows susceptible to damage from tires, wheels or tracks of the vehicle <NUM> and/or implement <NUM>, unless an exclusion zone <NUM> is used to compensate for the closer spacing. Accordingly, with an exclusion zone <NUM> or for a series of successive exclusion points <NUM> along a later path segment, one or row units <NUM> of the implement that are not adequately aligned to full proper target row spacings or prior seed or seedling rows from prior path segments, can be temporarily disabled or shut down, until adequate alignment of each row unit <NUM>, on an individual and independent basis from other row units <NUM> (e.g., whose row unit paths establish plant rows when seeding is active), is later realized. For example, the exclusion zone module <NUM> or electronic data processor <NUM> may identify "don't-plant" zones along previously planned paths or path segments of a sequence of path segments, where the seeds or seedlings would otherwise overlap or intersect with the tires, wheels or tracks of the implement <NUM> and/or vehicle <NUM>.

With the advent of path planning for agricultural operations, more information about the future planter path segments or implement <NUM> passes is known up-front before planting begins. This information includes one or more of the following: (<NUM>) path segments, rows, or passes where the vehicle <NUM> (e.g., tractor) and implement <NUM> (e.g., planter) will travel through the field; and (<NUM>) path segments, rows, or passes where the vehicle <NUM> (e.g., tractor) and implement <NUM> (e.g., planter) will turn for end turns in the headlands (e.g., which defines where the turns will take place). In <FIG>, the row units <NUM> of the implement <NUM> (e.g., planter) are capable of row-by-row unit <NUM>, on/off planting control on a dynamic. The system and method of the disclosure are well-suite to support efficient planting operations to save seed and reduce crop damage that can be predicted ahead of time (e.g., in virtual or simulated the path planning process or preplanning process before the vehicle enters the field or on a dynamic basis once the vehicle and implement are engaged in a planting operation). The turn and headland vehicle passes can be managed determine possible interactions between tire/wheels/tracks and plants to automatically avoid planting rows, or portions of rows, along a series of exclusion points <NUM> or in exclusion zones <NUM>, where damage or overlapping planting is likely to happen.

In one configuration, the guidance module <NUM> and implement control module <NUM> operate collectively in accordance with a path plan provided by the path planning module <NUM> and exclusion zones provided by the exclusion zone module <NUM>. Further, the implement control module <NUM> is configured to support planter section control, planter row unit control or row units <NUM>, variable planted seed (population) density or seedling (population) density by row or rows of the implement <NUM> (e.g., planter), and precision seed-planting equipment to accurately avoid planting exclusion points or exclusion zones where vehicle, the implement, or its or their tracks or tires are likely to cause seeds, seedling or plant damage.

In some configurations, the path planning module <NUM> comprises an open field path planning system that determines the estimated passes that the vehicle <NUM> (e.g., tractor) and implement <NUM> (e.g., planter) will take to cover or traverse the entire field (in field passes as well as boundary or headland passes). Further, the path planning module <NUM> may determine parallel passes (e.g., to plant generally parallel rows of plants or crop in the field with defined row separation or spacing) and end turns near a boundary, edge or headland. The path interference estimator <NUM> or data processor estimates interference zones or overlapping passes of the vehicle and/or implement based on any of the following: (a) the planned path (e.g., coverage area that comprises parallel pass segments and end turn segments), (b) application of the planned path to specific equipment parameters, such as the parameters of vehicle <NUM> and implement <NUM> (e.g., planter), like planter width, row spacing of row units, turning radius of implement, turning radius of vehicle <NUM>, hitch parameters of any hitch interconnecting the vehicle <NUM> and implement <NUM>, and the like. The exclusion zone module <NUM> estimates exclusion points or exclusion zones based on predicted interference or overlap of vehicle and/or implement passes. The exclusion zone module <NUM> or data processor <NUM> marks no-plant zones, such as keep-out areas, coverage area boundaries, boundaries, flags or other techniques, to alert the vehicle and/or implement (e.g., planter) where it should turn planting of seeds or seedlings on/off to avoid later damage to seeds, seedlings or plants resulting therefrom. Optionally, projections to tire paths or tracks of the vehicle and/or implement could be made from the raw path plans to understand each of the ground contact points near or in the exclusion zones.

In one configuration, the exclusion zone module <NUM> is configured to map interaction points, exclusion points, or exclusion zones. The exclusion zones or exclusion points are uploaded to the guidance module <NUM> of the vehicle and/or implement and the implement control module <NUM> in addition to the navigation paths or planned paths of the path planning module <NUM> for the planting operation. During planting, the vehicle (e.g., tractor) and towed implement (e.g., planter) will follow the planned paths and areas of predicted interaction, such as exclusion points and exclusion zones, will not be planted with seeds or seedlings to avoid later damage to such seeds or seedlings that would otherwise likely occur.

<FIG> illustrates a possible path plan that comprises an earlier or prior path plan <NUM> of prior path plan segments and a subsequent or later path plan <NUM> of present or later path segments, where the later path segments can overlap with the prior path segments of the vehicle <NUM>, and/or implement <NUM>. Further, <FIG> illustrates exclusion points <NUM> along the present or later path segments and various exclusion zones <NUM> that can be defined about the exclusion points <NUM>. As illustrated in the example of <FIG>, there is a core exclusion zone or central path exclusion zone <NUM> and the extended exclusion zone <NUM> (e.g., implement-width exclusion zone). As illustrated in <FIG>, in accordance with a path plan or planned path outputted by the path planning module <NUM> to accomplish a planting mission or other agricultural task, the guidance module <NUM> defines a central guidance path <NUM>, indicated by alternating long and short dashes, for the prior path plan <NUM> (e.g., that comprises contour path segments) and a central guidance path, indicated by bold dashes, for a present or later path plan <NUM> (e.g., that comprises a curved path segment, turn or end turn).

<FIG> provides at least three discrete levels of exclusion zones for the planting row units to avoid damaging prior seeds or seedlings in rows and to avoid overplanting or double planting of interference regions. Under a first level (e.g., minimum level) of exclusion zones, as the vehicle <NUM> and/or implement <NUM>, via the guidance module <NUM> in accordance with the path plan or planned path, tracks the later path plan <NUM>, the exclusion zone module <NUM>, implement control module <NUM>, or electronic data processor <NUM> is configured to deactivate (e.g., stop, pause or suspend seeding or planting for time period to suspend dispensing seeds into furrows of soil) the row unit or row units <NUM> at one or more exclusion points <NUM> (e.g., series of exclusion points) that intercept or cross the prior path segments of the prior path plan <NUM> in a sequence of path segments.

Under a second level (e.g., intermediate level) of exclusion zones, as the vehicle <NUM> and/or implement <NUM>, via the guidance module <NUM> in accordance with the path plan or planned path, tracks the later path plan <NUM>, the exclusion zone module <NUM>, implement control module <NUM>, or electronic data processor <NUM> is configured to deactivate (e.g., stop, pause or suspend seeding or planting for time period) the row unit or row units <NUM> for central path exclusion zone <NUM> (e.g., series of exclusion points) that intercept or cross the portions of prior path segments of the prior path plan <NUM> in a sequence of path segments. For example, the exclusion zone module <NUM>, implement control module <NUM>, or electronic data processor <NUM> is adapted to set or define one or more edges of the central path exclusion zone <NUM> by deactivating inner row units <NUM> on both sides of the implement <NUM> with respect to the central guidance path (e.g., or later path plan <NUM>).

Under a third level (e.g., maximum level) of exclusion zones, as the vehicle <NUM> and/or implement <NUM>, via the guidance module <NUM> in accordance with the path plan or planned path, tracks the later path plan <NUM>, the exclusion zone module <NUM>, implement control module <NUM>, or electronic data processor <NUM> is configured to deactivate (e.g., stop, pause or suspend seeding or planting for time period) the row unit or row units <NUM> for extended exclusion zone <NUM> (e.g., series of exclusion points) that intercept or cross the portions of prior path segments of the prior path plan <NUM> in a sequence of path segments. For example, the exclusion zone module <NUM>, implement control module <NUM>, or electronic data processor <NUM> is adapted to set or define one or more edges of the central path exclusion zone <NUM> (e.g., even up to the implement width <NUM> or swath width of the implement <NUM>) by deactivating one or more row units <NUM> on both sides of the implement <NUM>.

<FIG> illustrates another possible later path plan <NUM> of later path segments of the vehicle <NUM> and/or implement <NUM> that can overlap or interfere with a earlier or prior path plan <NUM>. On one or both sides of the later path plan <NUM>, indicated by bold dashed lines, there is a set of parallel rows that are tracked by the vehicle <NUM> and/or implement <NUM>. Similarly, on one or both sides of the prior path plan <NUM>, indicated by bold solid lines, there is set of parallel rows that are tracked by the vehicle and/or implement. The sets of parallel rows may define plant rows of seeds or seedlings, which are established by any number of active row units of the implement <NUM> via substantially linear path segments, curved path segments (e.g., as curved as contour lines), or both. Here, the temporal exclusion zone <NUM>, may be defined for a prior path plan or one or more prior path segments by a polygonal, trapezoidal, or other region where the later path segments or prior path segments overlap, whereas the temporal exclusion zone <NUM> expires for the present or later path plan to allow one set of (unidirectional) plant parallel plant rows <NUM> (e.g., vertical contour rows) to be planted.

<FIG> may address potential intersection of seed, seedling or plant rows inside or outside of the headland region.

In an alternate embodiment of <FIG>, while the prior path plan <NUM> (e.g., earlier pass) of a sequence of path segments is generally continuously planted by row units <NUM> with uniform rate or variable rate seed population per row, among rows <NUM>, the later path plan <NUM> (e.g., later pass) of the sequence of path segment is suspended, paused or discontinuously planted by row units <NUM> with zero seed or seedling population rate (or with a minimal seed or seedling population rate) for one or more rows in the temporal exclusion zone(s) <NUM> to maintain an average plant population per field area, and to avoid damage by the vehicle and/or implement during the later path plan <NUM> (e.g., later pass) of the sequence of the path plan.

<FIG> is a flow chart of one embodiment of a method for precise planting based on planned paths. The method of <FIG> begins in step S900.

In step S900, the path planning module <NUM> or electronic data processor <NUM> is configured to establish a path plan for a planter to cover a first area of the field at least once with a sequence of path segments, where at least some of the path segments are generally parallel to each other and spaced apart from each other. Any path segment may comprise one or more of the following: a generally straight path segment, a curved path segment, an arced path segment, a straight section, curved section, an arced section, or contour section of a path plan of the vehicle <NUM>, and/or a towed implement <NUM>, where the section or segment is bounded by two points on the path plan and where the two points on the path plan may be defined with reference to, or translated to, real world coordinates of the vehicle, and/or its implement along a center-line of the vehicle and/or implement in the direction of travel. A previous or prior path plan (e.g., <NUM>) or its prior path segments are indicated by parallel contour segments. A complete path plan may comprise the prior path segments of a prior path plan (e.g., <NUM>, <NUM>, <NUM>) and the later path segments of a later path plan <NUM>, or a sequence of the prior path segments of a prior path plan (e.g., <NUM>, <NUM>, <NUM>) and the later path segments of a later path plan (e.g., <NUM>).

In step S902, the path interference estimator <NUM> or electronic data processor <NUM> is configured to estimate potential interference between two or more path segments with respect to a first path segment and a second path segment, the first path segment (e.g., prior path segment) associated with an earlier scheduled portion of the sequence and the second path segment (e.g., later path segment) associated with a later scheduled portion of the sequence.

Step S902 is carried out in accordance with various techniques, which may be applied separately or cumulatively. Under a first technique, the potential interference is indicative of intersection or overlap of at least one previously scheduled row of planted seeds or seedlings for the first path segment (e.g., prior path segment) with the second path segment of the vehicle that is configured to propel the planter through the field. Under a second technique, the potential interference is indicative intersection or overlap of a set of previously scheduled rows of planted seeds or seedlings for the first path segment (e.g., prior path segment) with the second path segment (e.g., later path segment) of the vehicle that is configured to propel the planter through the field. Under a third technique, the potential interference is indicative of an intersection or overlap of a set of scheduled row of planted seeds or seedlings for the first path segment (e.g., prior path segment) with the second path segment (e.g., present or later path segment) of the implement or planter that is configured to propel the planter through the field.

In step S904, the exclusion zone module <NUM> or electronic data processor <NUM> is configured to estimate or to define an exclusion zone for the planter to prohibit planting of one or more rows of seeds or seedlings within the exclusion zone based on the estimated potential interference. For example, the user interface or display supports an operator's inputting, obtaining or accepting the established path plan and determined exclusion zone.

Step S904 may be executed in accordance with various examples, which may be applied separately or cumulatively. Under a first example, the previously scheduled rows are generally parallel to each other and wherein the exclusion zone has a generally rectangular boundary. Under a second example, the previously scheduled rows define contour segments that are parallel to each other and wherein the exclusion zone has a generally curved boundary that tracks the defined contour segments or path segments. Under a third example, an exclusion zone is within a headland of a field and comprises a unplanted travel path that is used and reused to traverse the established path plan to minimize damage from wheels, tracks or tires of the vehicle and the implement to previously planted seeds or plants. Under a fourth example, the exclusion zone comprises an unplanted travel path that is used and reused to traverse the established path plan to minimize damage from wheels, tracks or tires of the vehicle and the implement to previously planted seeds or plants during a subsequent agricultural operation, such as spraying, fertilizing, irrigating or applying other crop inputs. Under a fifth example, the exclusion zone comprises a segment of subsequent path plan for the vehicle or implement to travel or align the implement to a target location and pose on the field or an uncovered, remaining or untreated region of the field.

In step S906, the guidance module <NUM>, implement control module <NUM> and/or electronic data processor <NUM> is configured to activating or executing the path plan and determined exclusion zone in accordance with the established path plan and determined exclusion zone. A (complete) path plan can comprise a sequence of prior path segments (of a prior path plan) and later path segments (of a later path plan), for example.

The method and system of the disclosure is well-suited for avoiding soil compaction or concentrating the soil compaction into an unplanted exclusion zone (e.g., travel segment configured to the width of the vehicle or the implement) for travel of the vehicle amidst and adjacent to adjoining crop. The method and system described in this document can potentially reduce damage to planted seed or seedlings in the field by directing the vehicle tires, wheels, or tracks through the unplanted exclusion zone. Further, the method and system can facilitate use of less seeds or seedlings planted throughout the field.

Claim 1:
A system (<NUM>) for precise planting based on planned paths, the system comprising an electronic data processor (<NUM>) coupled to a data storage device (<NUM>) for storing one or more modules or software instructions that are executable by the data processor (<NUM>), the system comprising:
a path planning module (<NUM>) or electronic data processor (<NUM>) configured to establish a path plan for a planter to cover a first area of the field at least once with a sequence of path segments that are generally parallel to each other and spaced apart;
a path interference estimator (<NUM>) or the electronic data processor (<NUM>) configured to estimate potential interference between two or more path segments with respect to a first path segment and a second path segment, the first path segment associated with an earlier scheduled portion of the sequence and the second path segment associated with a later scheduled portion of the sequence;
characterized in that the system (<NUM>) further comprises:
an exclusion zone module (<NUM>) or the electronic data processor (<NUM>) configured to determine an exclusion zone for the planter to prohibit planting of one or more rows of seeds or seedlings within the exclusion zone based on the estimated potential interference; and
responsive to user input via a user interface (<NUM>), the electronic data processor (<NUM>) is configured to activate or execute the path plan and determined exclusion zone in accordance with the established path plan and determined exclusion zone;
wherein the exclusion zone comprises an unplanted travel path that is used and reused to traverse the established path plan to minimize damage from wheels, tracks or tires of the vehicle that is configured to propel the planter through the field and an implement to previously planted seeds or plants during a subsequent agricultural operation, such as spraying, fertilizing, irrigating or applying other crop inputs.