JPH01109913U - - Google Patents
Info
- Publication number
- JPH01109913U JPH01109913U JP495488U JP495488U JPH01109913U JP H01109913 U JPH01109913 U JP H01109913U JP 495488 U JP495488 U JP 495488U JP 495488 U JP495488 U JP 495488U JP H01109913 U JPH01109913 U JP H01109913U
- Authority
- JP
- Japan
- Prior art keywords
- working
- pitch
- machine
- planted
- seedling
- 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.)
- Pending
Links
- 240000007594 Oryza sativa Species 0.000 claims description 2
- 235000007164 Oryza sativa Nutrition 0.000 claims description 2
- 235000009566 rice Nutrition 0.000 claims description 2
- 239000011295 pitch Substances 0.000 claims 6
- 238000003384 imaging method Methods 0.000 claims 2
Landscapes
- Transplanting Machines (AREA)
- Image Processing (AREA)
Description
図面は本考案の実施例を示し、第１図は乗用型
田植機の平面図、第２図は側面図、第３図は操向
装置の要部平面図、第４図は自動制御装置のブロ
ツク図と油圧回路とを含む作用説明図、第５図は
作業ピツチおよび操舵制御の概略フローチヤート
図、第６図は２値化された撮像画面の図、第７図
は撮像画面における仮想線と基準との関係を示す
図である。
１……走行機体、２……フレーム、３，４……
車輪、５……苗載台、６……植付機構、７……苗
植装置、８……リンク機構、９……エンジン、１
１……ミツシヨンケース、１７……ステアリング
ギヤボツクス、２０……操縦ハンドル、ＮＡＥ…
…植付け苗箇所、Ｋ……仮想線、２３……回動支
点軸、２４……ステアリングアーム、２６……油
圧シリンダ、３４……自動操舵制御弁、３５……
操舵制御装置、３６……ポテンシヨメータ、３７
……画像処理装置、３８……作業ピツチ処理装置
、３９……作業ピツチ演算回路、４０……撮像手
段、４１……設定器、４２……撮像画面、Ａ……
領域、４３……回転数センサー、４４……比較回
路、４５……作業速度制御装置。
The drawings show an embodiment of the present invention; Fig. 1 is a plan view of the riding rice transplanter, Fig. 2 is a side view, Fig. 3 is a plan view of the main parts of the steering device, and Fig. 4 is a plan view of the automatic control device. Figure 5 is a schematic flow chart of working pitch and steering control, Figure 6 is a binarized image capture screen, and Figure 7 is a virtual line on the image capture screen. It is a figure showing the relationship between and a standard. 1... Traveling body, 2... Frame, 3, 4...
Wheel, 5... Seedling stand, 6... Planting mechanism, 7... Seedling planting device, 8... Link mechanism, 9... Engine, 1
1...Mission case, 17...Steering gear box, 20...Control handle, NAE...
...Seedling location for planting, K...imaginary line, 23...rotation fulcrum axis, 24...steering arm, 26...hydraulic cylinder, 34...automatic steering control valve, 35...
Steering control device, 36... Potentiometer, 37
. . . Image processing device, 38 .
Area, 43... Rotation speed sensor, 44... Comparison circuit, 45... Working speed control device.
Claims (1)
て既に植付けられた複数の植付け苗箇所を撮像す
る撮像手段と、該撮像手段による画像情報から各
植付け苗箇所の位置を求める位置決定手段と、機
体の進行方向前後の複数の位置から植付け苗箇所
の作業ピツチを計算する手段と、前記作業ピツチ
と設定ピツチとを比較して、設定ピツチになるよ
うに作業部への変速を制御する制御手段とを備え
て成る農作業機における作業ピツチ制御装置。 an imaging means for taking images of a plurality of planted seedling locations that have already been planted at appropriate work pitches by an agricultural machine such as a rice transplanter, and a position determining means for determining the position of each planting seedling location from image information obtained by the imaging means; means for calculating the working pitch of the planting seedling location from a plurality of positions before and after the moving direction of the machine body; and a control means for comparing the working pitch with a set pitch and controlling the speed change to the working section so as to reach the set pitch. A working pitch control device for an agricultural working machine, comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP495488U JPH01109913U (en) | 1988-01-19 | 1988-01-19 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP495488U JPH01109913U (en) | 1988-01-19 | 1988-01-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01109913U true JPH01109913U (en) | 1989-07-25 |
Family
ID=31207917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP495488U Pending JPH01109913U (en) | 1988-01-19 | 1988-01-19 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01109913U (en) |
-
1988
- 1988-01-19 JP JP495488U patent/JPH01109913U/ja active Pending
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