JPH01137105U - - Google Patents
Info
- Publication number
- JPH01137105U JPH01137105U JP3484288U JP3484288U JPH01137105U JP H01137105 U JPH01137105 U JP H01137105U JP 3484288 U JP3484288 U JP 3484288U JP 3484288 U JP3484288 U JP 3484288U JP H01137105 U JPH01137105 U JP H01137105U
- Authority
- JP
- Japan
- Prior art keywords
- predetermined area
- seedlings
- movement
- reference line
- row
- 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.)
- Granted
Links
- 238000003384 imaging method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Transplanting Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図面は本考案の一実施例を示すものであり、第
１図は本考案装置を装備した乗用田植機の側面図
、第２図はその平面図、第３図は苗列撮像装置の
拡大側面図、第４図はその平面図、第５図は作業
選択レバの操作位置説明のための平面図、第６図
は前輪の操舵機構の模式的平面図、第７図は本考
案装置の構成を示すブロツク図、第８図は画像処
理部の構成を示すブロツク図、第９図は画像処理
部の制御内容を示すフローチヤート、第１０図は
撮像範囲内の２値化された画像を示す模式図であ
る。
Ａ……走行機体、Ｂ……植付部、１……前輪、
２……後輪、１０……マーカ、１２……作業選択
レバ、２０Ｌ，２０Ｒ……苗列撮像装置、２２…
…画像処理部、３８……操舵角センサ、５０……
操向制御部。
The drawings show one embodiment of the present invention; Fig. 1 is a side view of a riding rice transplanter equipped with the device of the present invention, Fig. 2 is a plan view thereof, and Fig. 3 is an enlarged side view of the seedling row imaging device. 4 is a plan view thereof, FIG. 5 is a plan view for explaining the operating position of the work selection lever, FIG. 6 is a schematic plan view of the front wheel steering mechanism, and FIG. 7 is the configuration of the device of the present invention. FIG. 8 is a block diagram showing the configuration of the image processing section, FIG. 9 is a flowchart showing the control details of the image processing section, and FIG. 10 shows a binarized image within the imaging range. It is a schematic diagram. A... Traveling body, B... Planting section, 1... Front wheel,
2... Rear wheel, 10... Marker, 12... Work selection lever, 20L, 20R... Seedling row imaging device, 22...
...Image processing unit, 38...Steering angle sensor, 50...
Steering control section.
Claims (1)
機の自動操向装置において、 前記苗株の列条の一部を撮像する苗列撮像装置
と、 撮像された苗株の画像の進行方向前方の所定領
域の画素及び進行方向後方の所定領域の画素と前
記画像の進行方向の基準線との距離を算出する手
段と、 該手段により算出された前方の所定領域の画素
と基準線との距離及び後方の所定領域の画素と基
準線との距離を操向情報として用い自動操向する
手段と を具備することを特徴とする移植機の自動操向装
置。[Scope of Claim for Utility Model Registration] An automatic steering device for a transplanter that automatically steers itself following a row of seedlings that have already been planted, comprising: a seedling row imaging device that images a part of the row of seedlings; means for calculating distances between pixels in a predetermined area in the front in the direction of movement and pixels in a predetermined area in the rear in the direction of movement of the image of the seedlings and a reference line in the direction of movement of the image; An automatic steering device for a transplant machine, characterized by comprising means for automatically steering using the distance between a pixel in a predetermined area and a reference line and the distance between a pixel in a rear predetermined area and a reference line as steering information. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988034842U JP2505403Y2 (en) | 1988-03-15 | 1988-03-15 | Automatic steering device for transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988034842U JP2505403Y2 (en) | 1988-03-15 | 1988-03-15 | Automatic steering device for transplanter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01137105U true JPH01137105U (en) | 1989-09-20 |
| JP2505403Y2 JP2505403Y2 (en) | 1996-07-31 |
Family
ID=31261514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1988034842U Expired - Lifetime JP2505403Y2 (en) | 1988-03-15 | 1988-03-15 | Automatic steering device for transplanter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2505403Y2 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6261509A (en) * | 1985-09-12 | 1987-03-18 | 株式会社クボタ | Adjacent seedling detector for rice planter |
| JPS6356203A (en) * | 1986-08-25 | 1988-03-10 | 社団法人 北海道農業機械工業会 | Apparatus for detecting position and advance direction of moving agricultural machine to crop raw |
-
1988
- 1988-03-15 JP JP1988034842U patent/JP2505403Y2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6261509A (en) * | 1985-09-12 | 1987-03-18 | 株式会社クボタ | Adjacent seedling detector for rice planter |
| JPS6356203A (en) * | 1986-08-25 | 1988-03-10 | 社団法人 北海道農業機械工業会 | Apparatus for detecting position and advance direction of moving agricultural machine to crop raw |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2505403Y2 (en) | 1996-07-31 |
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