JPH01155704U - - Google Patents
Info
- Publication number
- JPH01155704U JPH01155704U JP5121488U JP5121488U JPH01155704U JP H01155704 U JPH01155704 U JP H01155704U JP 5121488 U JP5121488 U JP 5121488U JP 5121488 U JP5121488 U JP 5121488U JP H01155704 U JPH01155704 U JP H01155704U
- Authority
- JP
- Japan
- Prior art keywords
- row
- objects
- steering
- image
- imaging device
- 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 5
- 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
- 238000000034 method Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
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
、第１１図はエンジン回転数の制御手順を示すフ
ローチヤートである。
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、５０……操向制御部。
Fig. 1 is a side view of a riding rice transplanter equipped with the device of the present invention, Fig. 2 is its plan view, Fig. 3 is an enlarged side view of the seedling row imaging device, Fig. 4 is its plan view, and Fig. 5 is A plan view for explaining the operation position of the work selection lever, FIG. 6 is a schematic plan view of the front wheel steering mechanism, FIG. 7 is a block diagram showing the configuration of the device of the present invention, and FIG. 8 is the configuration of the image processing section. FIG. 9 is a flowchart showing the control contents of the image processing section.
The figure is a schematic diagram showing a binarized image within the imaging range, and FIG. 11 is a flowchart showing a procedure for controlling the engine rotation speed. 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 section, 50...steering control section.
Claims (1)
車両の自動操向装置装置において、 前記物体の列条及び操舵装置の作動部を撮像す
る撮像装置と、 該撮像装置により撮像された前記物体の列条の
画像及び前記作動部の画像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作業用車両の自動操
向装置。[Scope of Claim for Utility Model Registration] An automatic steering device for a work vehicle that automatically steers itself following a row of objects that have been worked on, comprising: an imaging device that images the row of objects and an operating part of a steering device; An automatic steering device for a work vehicle, comprising means for automatically steering using an image of the row of objects captured by the imaging device and an image of the actuating section as steering information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5121488U JPH0746084Y2 (en) | 1988-04-15 | 1988-04-15 | Automatic steering device for work vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5121488U JPH0746084Y2 (en) | 1988-04-15 | 1988-04-15 | Automatic steering device for work vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01155704U true JPH01155704U (en) | 1989-10-26 |
| JPH0746084Y2 JPH0746084Y2 (en) | 1995-10-25 |
Family
ID=31277245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5121488U Expired - Lifetime JPH0746084Y2 (en) | 1988-04-15 | 1988-04-15 | Automatic steering device for work vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0746084Y2 (en) |
-
1988
- 1988-04-15 JP JP5121488U patent/JPH0746084Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0746084Y2 (en) | 1995-10-25 |
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