JP7821820B2 - 農業機械 - Google Patents

農業機械

Info

Publication number
JP7821820B2
JP7821820B2 JP2023569279A JP2023569279A JP7821820B2 JP 7821820 B2 JP7821820 B2 JP 7821820B2 JP 2023569279 A JP2023569279 A JP 2023569279A JP 2023569279 A JP2023569279 A JP 2023569279A JP 7821820 B2 JP7821820 B2 JP 7821820B2
Authority
JP
Japan
Prior art keywords
image
agricultural machine
row
area
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
JP2023569279A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023120183A1 (https=
JPWO2023120183A5 (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 JPWO2023120183A1 publication Critical patent/JPWO2023120183A1/ja
Publication of JPWO2023120183A5 publication Critical patent/JPWO2023120183A5/ja
Application granted granted Critical
Publication of JP7821820B2 publication Critical patent/JP7821820B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • 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
    • 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
    • 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
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • 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
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
    • G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/62—Extraction of image or video features relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Evolutionary Computation (AREA)
  • Databases & Information Systems (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Guiding Agricultural Machines (AREA)
JP2023569279A 2021-12-24 2022-12-07 農業機械 Active JP7821820B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2021210083 2021-12-24
JP2021210083 2021-12-24
JP2021210084 2021-12-24
JP2021210084 2021-12-24
PCT/JP2022/045042 WO2023120183A1 (ja) 2021-12-24 2022-12-07 農業機械

Publications (3)

Publication Number Publication Date
JPWO2023120183A1 JPWO2023120183A1 (https=) 2023-06-29
JPWO2023120183A5 JPWO2023120183A5 (https=) 2024-08-27
JP7821820B2 true JP7821820B2 (ja) 2026-02-27

Family

ID=86902297

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023569279A Active JP7821820B2 (ja) 2021-12-24 2022-12-07 農業機械

Country Status (3)

Country Link
EP (1) EP4430939A4 (https=)
JP (1) JP7821820B2 (https=)
WO (1) WO2023120183A1 (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2020202789A (ja) 2019-06-18 2020-12-24 ヤンマーパワーテクノロジー株式会社 収穫機

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2815760B2 (ja) * 1992-06-30 1998-10-27 株式会社クボタ 作物列検出装置
JPH09168315A (ja) * 1995-12-21 1997-06-30 Kubota Corp 作業車の境界検出装置、走行状態表示装置、及び走行制御装置
JP2649908B2 (ja) * 1996-03-21 1997-09-03 ヤンマー農機株式会社 移植機の自動操向装置におけるノイズ除去装置
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

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2020202789A (ja) 2019-06-18 2020-12-24 ヤンマーパワーテクノロジー株式会社 収穫機

Also Published As

Publication number Publication date
JPWO2023120183A1 (https=) 2023-06-29
EP4430939A4 (en) 2025-04-02
US20240338948A1 (en) 2024-10-10
EP4430939A1 (en) 2024-09-18
WO2023120183A1 (ja) 2023-06-29

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