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JPS6455113A - Apparatus for detecting machine direction of crop planting machine - Google Patents

Apparatus for detecting machine direction of crop planting machine

Info

Publication number
JPS6455113A
JPS6455113A JP21371187A JP21371187A JPS6455113A JP S6455113 A JPS6455113 A JP S6455113A JP 21371187 A JP21371187 A JP 21371187A JP 21371187 A JP21371187 A JP 21371187A JP S6455113 A JPS6455113 A JP S6455113A
Authority
JP
Japan
Prior art keywords
machine
crop
crops
positions
planting
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
JP21371187A
Other languages
Japanese (ja)
Inventor
Yasuo Fujii
Masahiko Hayashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to JP21371187A priority Critical patent/JPS6455113A/en
Publication of JPS6455113A publication Critical patent/JPS6455113A/en
Pending legal-status Critical Current

Links

Landscapes

  • Transplanting Machines (AREA)
  • Image Processing (AREA)

Abstract

PURPOSE:To quickly detect the direction of a machine body, by picking up the image of a crop from vertical direction and determining the direction of the machine relative to the crop from detected information on the position of a crop positioned in a preset region corresponding to the planting intervals of the crops. CONSTITUTION:The position (x0, y0) of a region corresponding to a seedling A0 nearest to the center of a visual field of an image sensor is determined. A square mask M having the position (x0, y0) as the center and a side length longer than twice the planting interval l1 and shorter than twice the planting width l2 is set, the positions of crops in the mask M are searched and the positions (x1, y1) and (x2, y2) of seedling A1 and A2 arranged in the moving direction of the machine relative to the seeding A0 are detected. The direction thetaof the machine body relative to the row of crops parallel to the moving direction of the machine is determined from the positions (x1, y1) and (x2, y2).
JP21371187A 1987-08-27 1987-08-27 Apparatus for detecting machine direction of crop planting machine Pending JPS6455113A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP21371187A JPS6455113A (en) 1987-08-27 1987-08-27 Apparatus for detecting machine direction of crop planting machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP21371187A JPS6455113A (en) 1987-08-27 1987-08-27 Apparatus for detecting machine direction of crop planting machine

Publications (1)

Publication Number Publication Date
JPS6455113A true JPS6455113A (en) 1989-03-02

Family

ID=16643721

Family Applications (1)

Application Number Title Priority Date Filing Date
JP21371187A Pending JPS6455113A (en) 1987-08-27 1987-08-27 Apparatus for detecting machine direction of crop planting machine

Country Status (1)

Country Link
JP (1) JPS6455113A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11778934B2 (en) * 2019-07-02 2023-10-10 Bear Flag Robotics, Inc. Agricultural lane following

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11778934B2 (en) * 2019-07-02 2023-10-10 Bear Flag Robotics, Inc. Agricultural lane following
US20240065131A1 (en) * 2019-07-02 2024-02-29 Bear Flag Robotics, Inc. Agricultural Lane Following

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