KR20240005917A - 열 검출 시스템, 열 검출 시스템을 구비하는 농업 기계, 및 열 검출 방법 - Google Patents

열 검출 시스템, 열 검출 시스템을 구비하는 농업 기계, 및 열 검출 방법 Download PDF

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Publication number
KR20240005917A
KR20240005917A KR1020237042411A KR20237042411A KR20240005917A KR 20240005917 A KR20240005917 A KR 20240005917A KR 1020237042411 A KR1020237042411 A KR 1020237042411A KR 20237042411 A KR20237042411 A KR 20237042411A KR 20240005917 A KR20240005917 A KR 20240005917A
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KR
South Korea
Prior art keywords
image
agricultural machine
detection system
processing device
heat detection
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
Application number
KR1020237042411A
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English (en)
Korean (ko)
Inventor
슌스케 미야시타
šœ스케 미야시타
도루 담보
미츠아키 나가오
Original Assignee
가부시끼 가이샤 구보다
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Publication date
Application filed by 가부시끼 가이샤 구보다 filed Critical 가부시끼 가이샤 구보다
Publication of KR20240005917A publication Critical patent/KR20240005917A/ko
Pending legal-status Critical Current

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    • 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
    • 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
    • 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
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • 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
    • 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
    • G06T2207/20048—Transform domain 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Geometry (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
KR1020237042411A 2021-06-29 2022-02-04 열 검출 시스템, 열 검출 시스템을 구비하는 농업 기계, 및 열 검출 방법 Pending KR20240005917A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021107920 2021-06-29
JPJP-P-2021-107920 2021-06-29
PCT/JP2022/004548 WO2023276227A1 (ja) 2021-06-29 2022-02-04 列検出システム、列検出システムを備える農業機械、および、列検出方法

Publications (1)

Publication Number Publication Date
KR20240005917A true KR20240005917A (ko) 2024-01-12

Family

ID=84691057

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020237042411A Pending KR20240005917A (ko) 2021-06-29 2022-02-04 열 검출 시스템, 열 검출 시스템을 구비하는 농업 기계, 및 열 검출 방법

Country Status (5)

Country Link
US (1) US12588578B2 (https=)
EP (1) EP4335266B1 (https=)
JP (2) JP7767423B2 (https=)
KR (1) KR20240005917A (https=)
WO (1) WO2023276227A1 (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4335265A4 (en) * 2021-06-29 2025-06-11 Kubota Corporation Crop row detection system, agricultural machine equipped with crop row detection system, and crop row detection method
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
EP4613081A1 (en) 2022-11-02 2025-09-10 Kubota Corporation Driving control system, work vehicle, and driving control method
EP4599655A1 (en) 2022-11-02 2025-08-13 Kubota Corporation Row detection system, agricultural machine provided with row detection system, and row detection method
KR20240165191A (ko) * 2023-05-15 2024-11-22 현대자동차주식회사 객체 높이 판단 장치 및 그 방법
JP2025002839A (ja) 2023-06-23 2025-01-09 株式会社クボタ 列検出システムおよび農業機械
CN121089710B (zh) * 2025-09-01 2026-04-28 湖南省水利水电科学研究院 一种砍青机器人导航方法及系统

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016208871A (ja) 2015-04-30 2016-12-15 国立大学法人 鹿児島大学 作業機及びその制御方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2593166B2 (ja) 1987-12-18 1997-03-26 ヤンマー農機株式会社 農作業機における植付苗列検出装置
US7684916B2 (en) * 2005-07-01 2010-03-23 Deere & Company Method and system for vehicular guidance using a crop image
JP5952611B2 (ja) * 2012-03-28 2016-07-13 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
JP6497546B2 (ja) * 2015-02-06 2019-04-10 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
US12315247B2 (en) * 2021-12-01 2025-05-27 Deere & Company Generating synthetic ground-level data based on generator conditioned for particular agricultural area

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016208871A (ja) 2015-04-30 2016-12-15 国立大学法人 鹿児島大学 作業機及びその制御方法

Also Published As

Publication number Publication date
JP2025128274A (ja) 2025-09-02
US20240196781A1 (en) 2024-06-20
EP4335266A1 (en) 2024-03-13
EP4335266A4 (en) 2025-05-14
US12588578B2 (en) 2026-03-31
EP4335266B1 (en) 2026-01-14
JPWO2023276227A1 (https=) 2023-01-05
WO2023276227A1 (ja) 2023-01-05
JP7767423B2 (ja) 2025-11-11

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