JPWO2023276226A1 - - Google Patents

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Publication number
JPWO2023276226A1
JPWO2023276226A1 JP2023531366A JP2023531366A JPWO2023276226A1 JP WO2023276226 A1 JPWO2023276226 A1 JP WO2023276226A1 JP 2023531366 A JP2023531366 A JP 2023531366A JP 2023531366 A JP2023531366 A JP 2023531366A JP WO2023276226 A1 JPWO2023276226 A1 JP WO2023276226A1
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JP
Japan
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
Application number
JP2023531366A
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Japanese (ja)
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JP7796745B2 (ja
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Publication of JPWO2023276226A1 publication Critical patent/JPWO2023276226A1/ja
Priority to JP2025095775A priority Critical patent/JP2025131781A/ja
Application granted granted Critical
Publication of JP7796745B2 publication Critical patent/JP7796745B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A01B69/001—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
    • 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
    • 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
    • G05D1/2435—Extracting 3D information
    • 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
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • 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
    • 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
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/20—Details of software or hardware architectures used for the control of position using external object recognition
    • 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
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • 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
    • G06T2207/20072—Graph-based image 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
    • 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
    • G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Guiding Agricultural Machines (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
JP2023531366A 2021-06-29 2022-02-04 作物列検出システム、作物列検出システムを備える農業機械、および、作物列検出方法 Active JP7796745B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2025095775A JP2025131781A (ja) 2021-06-29 2025-06-09 作物列検出システム、作物列検出システムを備える農業機械、および、作物列検出方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021107919 2021-06-29
JP2021107919 2021-06-29
PCT/JP2022/004547 WO2023276226A1 (ja) 2021-06-29 2022-02-04 作物列検出システム、作物列検出システムを備える農業機械、および、作物列検出方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2025095775A Division JP2025131781A (ja) 2021-06-29 2025-06-09 作物列検出システム、作物列検出システムを備える農業機械、および、作物列検出方法

Publications (2)

Publication Number Publication Date
JPWO2023276226A1 true JPWO2023276226A1 (https=) 2023-01-05
JP7796745B2 JP7796745B2 (ja) 2026-01-09

Family

ID=84692236

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2023531366A Active JP7796745B2 (ja) 2021-06-29 2022-02-04 作物列検出システム、作物列検出システムを備える農業機械、および、作物列検出方法
JP2025095775A Withdrawn JP2025131781A (ja) 2021-06-29 2025-06-09 作物列検出システム、作物列検出システムを備える農業機械、および、作物列検出方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2025095775A Withdrawn JP2025131781A (ja) 2021-06-29 2025-06-09 作物列検出システム、作物列検出システムを備える農業機械、および、作物列検出方法

Country Status (5)

Country Link
US (1) US12469169B2 (https=)
EP (1) EP4335265A4 (https=)
JP (2) JP7796745B2 (https=)
KR (1) KR20240007667A (https=)
WO (1) WO2023276226A1 (https=)

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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
JP2025055365A (ja) * 2023-09-27 2025-04-08 株式会社クボタ 農業支援システムおよび作物列の検出方法
EP4613085A1 (en) * 2024-03-08 2025-09-10 CNH Industrial France S.A.S. Mapping crops
CN119779726B (zh) * 2025-03-07 2025-05-16 湖南农业大学 油菜钵苗移栽机的移栽性能测试方法和系统

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JPH0620031A (ja) * 1992-06-30 1994-01-28 Kubota Corp 作業領域検出装置
JPH09201110A (ja) * 1996-01-26 1997-08-05 Kubota Corp 作業車の方向検出装置、走行状態表示装置、及び走行制御装置
JPH09224417A (ja) * 1996-02-27 1997-09-02 Kubota Corp 作業車の補助装置
JP2006101816A (ja) * 2004-10-08 2006-04-20 Univ Of Tokyo 操向制御方法及び装置
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JPH0620031A (ja) * 1992-06-30 1994-01-28 Kubota Corp 作業領域検出装置
JPH09201110A (ja) * 1996-01-26 1997-08-05 Kubota Corp 作業車の方向検出装置、走行状態表示装置、及び走行制御装置
JPH09224417A (ja) * 1996-02-27 1997-09-02 Kubota Corp 作業車の補助装置
JP2006101816A (ja) * 2004-10-08 2006-04-20 Univ Of Tokyo 操向制御方法及び装置
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Also Published As

Publication number Publication date
EP4335265A4 (en) 2025-06-11
JP7796745B2 (ja) 2026-01-09
US20240202966A1 (en) 2024-06-20
EP4335265A1 (en) 2024-03-13
KR20240007667A (ko) 2024-01-16
JP2025131781A (ja) 2025-09-09
US12469169B2 (en) 2025-11-11
WO2023276226A1 (ja) 2023-01-05

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