JPH03608U - - Google Patents
Info
- Publication number
- JPH03608U JPH03608U JP5941889U JP5941889U JPH03608U JP H03608 U JPH03608 U JP H03608U JP 5941889 U JP5941889 U JP 5941889U JP 5941889 U JP5941889 U JP 5941889U JP H03608 U JPH03608 U JP H03608U
- Authority
- JP
- Japan
- Prior art keywords
- seedlings
- seedling planting
- processing device
- planting density
- image processing
- 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 6
- 235000007164 Oryza sativa Nutrition 0.000 claims description 5
- 235000009566 rice Nutrition 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 241000209094 Oryza Species 0.000 claims 4
- 241000196324 Embryophyta Species 0.000 claims 1
- 239000000284 extract Substances 0.000 claims 1
- 238000000605 extraction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
Landscapes
- Transplanting Machines (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Indicators Other Than Cathode Ray Tubes (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
・走行自動制御装置のブロツク図と油圧回路を含
む作用説明図、第４図は苗植装置の要部拡大側面
図、第５図は撮像画面の説明図、第６図は撮像画
面中の注目画素の説明図、第７図は横軸に苗裁植
密度を、縦軸に注目画素数をとつた両者の関係図
、第８図は苗裁植密度が小さい場合の特徴領域の
観測状態を示す説明図、第９図は苗裁植密度が中
程度場合の特徴領域の観測状態を示す説明図であ
る。
１……走行機体、３，４……車輪、５……苗載
台、６……植付機構、７……苗植装置、９……エ
ンジン、１１……ミツシヨンケース、１２……Ｐ
ＴＯ軸、１７……操縦ハンドル、１９……回動支
点軸、２０……ステアリングアーム、２２……油
圧シリンダ、２７……自動操舵制御弁、２８……
ポテンシヨメータ、３０……作物列検出装置、３
１……中央制御装置、３２……撮像手段、３３…
…画像処理装置、４０……撮像画面、４１……植
付け苗個所、１５，４６……苗裁植密度変更手段
、４２，４８……苗裁植密度検出手段、４７……
苗マツト、４９……演算手段、５０……特徴領域
。
The drawings show an embodiment of the present invention; Fig. 1 is a plan view of a riding rice transplanter, Fig. 2 is a side view, and Fig. 3 is a block diagram of the automatic steering/travel control device and an explanation of its function including a hydraulic circuit. Figure 4 is an enlarged side view of the main parts of the seedling planting device, Figure 5 is an explanatory diagram of the imaging screen, Figure 6 is an explanatory diagram of the pixel of interest in the imaging screen, and Figure 7 is the horizontal axis for seedling planting. A diagram showing the relationship between the density and the number of pixels of interest on the vertical axis. Figure 8 is an explanatory diagram showing the observation state of the characteristic region when the seedling planting density is small. Figure 9 is an illustration showing the observation state of the characteristic region when the seedling planting density is medium. FIG. 3 is an explanatory diagram showing an observation state of a characteristic region in the case of FIG. 1... Traveling body, 3, 4... Wheels, 5... Seedling stand, 6... Planting mechanism, 7... Seedling planting device, 9... Engine, 11... Mission case, 12... P
TO axis, 17... Control handle, 19... Rotating fulcrum shaft, 20... Steering arm, 22... Hydraulic cylinder, 27... Automatic steering control valve, 28...
Potentiometer, 30... Crop row detection device, 3
1...Central control unit, 32...Imaging means, 33...
...image processing device, 40...imaging screen, 41...planted seedling location, 15, 46...seedling planting density changing means, 42, 48...seedling planting density detection means, 47...
Seedling pine, 49...Calculating means, 50...Characteristic region.
Claims (1)
方で倣い走行するように田植機を自動操舵制御す
るために用いる作物列検出画像処理装置において
、田植機に、二次元撮像手段にて撮像して得られ
た圃場面の画像情報を２値化した後の撮像画面か
ら、植付け苗個所の特徴領域を抽出する画像処理
装置と、田植機の進行方向に沿う植付け苗株間隔
を変更し、及び各種付け苗の苗取量を変更する苗
裁植密度変更手段とを設けると共に、この株間隔
及び苗取量を各々検出する苗裁植密度検出手段を
設け、前記特徴領域の抽出画像処理に際して、前
記撮像画面における観測点となる注目画素を適宜
間隔をおいて設定し、且つ前記注目画素数を前記
苗裁植密度の大きさに反比例するように設定する
演算手段を設けたことを特徴とする田植機におけ
る作物列検出画像処理装置。 In a crop row detection image processing device used to automatically control a rice transplanter so that it follows and follows rows of seedlings already planted in a field, the rice transplanter is imaged by a two-dimensional imaging means. An image processing device extracts characteristic regions of planted seedlings from the image capture screen after binarizing the image information of the field scene obtained by doing so, and changes the spacing of planted seedlings along the direction of movement of the rice transplanter. and a seedling planting density changing means for changing the amount of seedlings to be taken of each type of seedling, and a seedling planting density detecting means for detecting the plant spacing and the amount of seedlings to be taken, respectively, and when processing the extraction image of the characteristic region. , further comprising a calculation means for setting pixels of interest serving as observation points on the imaging screen at appropriate intervals, and setting the number of pixels of interest to be inversely proportional to the size of the seedling planting density. Crop row detection image processing device for rice transplanters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5941889U JP2502981Y2 (en) | 1989-05-22 | 1989-05-22 | Image processing system for crop row detection in rice transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5941889U JP2502981Y2 (en) | 1989-05-22 | 1989-05-22 | Image processing system for crop row detection in rice transplanter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03608U true JPH03608U (en) | 1991-01-08 |
| JP2502981Y2 JP2502981Y2 (en) | 1996-06-26 |
Family
ID=31585894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5941889U Expired - Lifetime JP2502981Y2 (en) | 1989-05-22 | 1989-05-22 | Image processing system for crop row detection in rice transplanter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2502981Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108124556A (en) * | 2017-12-25 | 2018-06-08 | 东风农业装备（襄阳）有限公司 | Intelligent transplanter and based on intelligent transplanter safeguard seedling strain instruct system and method |
| CN110319887A (en) * | 2019-08-01 | 2019-10-11 | 农业农村部南京农业机械化研究所 | Rape transplants field operation quality on-line monitoring system and its monitoring method |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04130118U (en) * | 1991-05-22 | 1992-11-30 | 日立工機株式会社 | Dust suction type jigsaw |
| CN106612813A (en) * | 2016-12-26 | 2017-05-10 | 广西南宁途御科技有限公司 | Guidance system capable of adjusting tillage line spacing |
| JP7047874B2 (en) * | 2020-08-31 | 2022-04-05 | 井関農機株式会社 | Work vehicle |
-
1989
- 1989-05-22 JP JP5941889U patent/JP2502981Y2/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108124556A (en) * | 2017-12-25 | 2018-06-08 | 东风农业装备（襄阳）有限公司 | Intelligent transplanter and based on intelligent transplanter safeguard seedling strain instruct system and method |
| CN110319887A (en) * | 2019-08-01 | 2019-10-11 | 农业农村部南京农业机械化研究所 | Rape transplants field operation quality on-line monitoring system and its monitoring method |
| CN110319887B (en) * | 2019-08-01 | 2023-09-22 | 农业农村部南京农业机械化研究所 | Online monitoring system and method for rape transplanting field operation quality |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2502981Y2 (en) | 1996-06-26 |
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