JP7767423B2 - 列検出システム、列検出システムを備える農業機械、および、列検出方法 - Google Patents

列検出システム、列検出システムを備える農業機械、および、列検出方法

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Publication number
JP7767423B2
JP7767423B2 JP2023531367A JP2023531367A JP7767423B2 JP 7767423 B2 JP7767423 B2 JP 7767423B2 JP 2023531367 A JP2023531367 A JP 2023531367A JP 2023531367 A JP2023531367 A JP 2023531367A JP 7767423 B2 JP7767423 B2 JP 7767423B2
Authority
JP
Japan
Prior art keywords
image
agricultural machine
row
detection system
crop
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2023531367A
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English (en)
Japanese (ja)
Other versions
JPWO2023276227A1 (https=
Inventor
隼輔 宮下
透 反甫
充朗 長尾
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Publication of JPWO2023276227A1 publication Critical patent/JPWO2023276227A1/ja
Priority to JP2025095776A priority Critical patent/JP2025128274A/ja
Application granted granted Critical
Publication of JP7767423B2 publication Critical patent/JP7767423B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • A01B69/007—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
    • 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
    • A01B69/001—Steering by means of optical assistance, e.g. television cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/21—Farming, e.g. fields, pastures or barns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20048—Transform domain processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Geometry (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2023531367A 2021-06-29 2022-02-04 列検出システム、列検出システムを備える農業機械、および、列検出方法 Active JP7767423B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2025095776A JP2025128274A (ja) 2021-06-29 2025-06-09 列検出システム、列検出システムを備える農業機械、および、列検出方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021107920 2021-06-29
JP2021107920 2021-06-29
PCT/JP2022/004548 WO2023276227A1 (ja) 2021-06-29 2022-02-04 列検出システム、列検出システムを備える農業機械、および、列検出方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2025095776A Division JP2025128274A (ja) 2021-06-29 2025-06-09 列検出システム、列検出システムを備える農業機械、および、列検出方法

Publications (2)

Publication Number Publication Date
JPWO2023276227A1 JPWO2023276227A1 (https=) 2023-01-05
JP7767423B2 true JP7767423B2 (ja) 2025-11-11

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
JP2023531367A Active JP7767423B2 (ja) 2021-06-29 2022-02-04 列検出システム、列検出システムを備える農業機械、および、列検出方法
JP2025095776A Withdrawn JP2025128274A (ja) 2021-06-29 2025-06-09 列検出システム、列検出システムを備える農業機械、および、列検出方法

Family Applications After (1)

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JP2025095776A Withdrawn JP2025128274A (ja) 2021-06-29 2025-06-09 列検出システム、列検出システムを備える農業機械、および、列検出方法

Country Status (5)

Country Link
US (1) US12588578B2 (https=)
EP (1) EP4335266B1 (https=)
JP (2) JP7767423B2 (https=)
KR (1) KR20240005917A (https=)
WO (1) WO2023276227A1 (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4335265A4 (en) * 2021-06-29 2025-06-11 Kubota Corporation Crop row detection system, agricultural machine equipped with crop row detection system, and crop row detection method
WO2023127437A1 (ja) * 2021-12-27 2023-07-06 株式会社クボタ 農業機械
WO2023230292A1 (en) * 2022-05-26 2023-11-30 farm-ng Inc. Image segmentation for row following and associated training system
EP4613081A1 (en) 2022-11-02 2025-09-10 Kubota Corporation Driving control system, work vehicle, and driving control method
EP4599655A1 (en) 2022-11-02 2025-08-13 Kubota Corporation Row detection system, agricultural machine provided with row detection system, and row detection method
KR20240165191A (ko) * 2023-05-15 2024-11-22 현대자동차주식회사 객체 높이 판단 장치 및 그 방법
JP2025002839A (ja) 2023-06-23 2025-01-09 株式会社クボタ 列検出システムおよび農業機械
CN121089710B (zh) * 2025-09-01 2026-04-28 湖南省水利水电科学研究院 一种砍青机器人导航方法及系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070001096A1 (en) 2005-07-01 2007-01-04 Jiantao Wei Method and system for vehicular guidance using a crop image
JP2013201958A (ja) 2012-03-28 2013-10-07 National Agriculture & Food Research Organization 走行制御装置
JP2016146061A (ja) 2015-02-06 2016-08-12 国立研究開発法人農業・食品産業技術総合研究機構 走行制御装置

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
JP2593166B2 (ja) 1987-12-18 1997-03-26 ヤンマー農機株式会社 農作業機における植付苗列検出装置
JP6418604B2 (ja) 2015-04-30 2018-11-07 国立大学法人 鹿児島大学 作業機及びその制御方法
US12315247B2 (en) * 2021-12-01 2025-05-27 Deere & Company Generating synthetic ground-level data based on generator conditioned for particular agricultural area

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070001096A1 (en) 2005-07-01 2007-01-04 Jiantao Wei Method and system for vehicular guidance using a crop image
JP2013201958A (ja) 2012-03-28 2013-10-07 National Agriculture & Food Research Organization 走行制御装置
JP2016146061A (ja) 2015-02-06 2016-08-12 国立研究開発法人農業・食品産業技術総合研究機構 走行制御装置

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
塙圭二、濱田安之、松尾陽介，農用車両の運転支援用のステレオ画像処理手法の研究，電気学会論文誌Ｃ，日本，一般社団法人 電気学会[オンライン]，2007年04月01日，127巻,4号，p.513-520，[検索日 2022.03.30]，，インターネット<URL : https://www.jstage.jst.go.jp/article/ieejeiss/127/4/127_4_513/_article/-char/ja
岡本博史、端俊一、高井宗宏，畑作管理ロボットのための作物列センサ，農業機械学会第58回大会講演要旨，日本，農業食料工学会[オンライン]，1999年04月01日，61巻,Supplement号，p.231-232，[検索日 2022.03.30]，，インターネット:<URL : https://www.jstage.jst.go.jp/article/jsam1937/61/Supplement/61_Supplement_231/
岡本博史、端俊一、高井宗宏，自動うね合わせのための作物列センサ（第1報）－処理システムの比較と性能評価－，農業機械学会誌，日本，農業食料工学会[オンライン]，1999年11月01日，61巻,6号，p.159-167，[検索日 2022.03.30]，，インターネット：<URL : https://www.jstage.jst.go.jp/article/jsam1937/61/6/61_6_159/_article/-char/ja

Also Published As

Publication number Publication date
JP2025128274A (ja) 2025-09-02
KR20240005917A (ko) 2024-01-12
US20240196781A1 (en) 2024-06-20
EP4335266A1 (en) 2024-03-13
EP4335266A4 (en) 2025-05-14
US12588578B2 (en) 2026-03-31
EP4335266B1 (en) 2026-01-14
JPWO2023276227A1 (https=) 2023-01-05
WO2023276227A1 (ja) 2023-01-05

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