DE69709482T2 - Erntegutlinie-Ortungsvorrichtung mit Bildverarbeitung - Google Patents

Erntegutlinie-Ortungsvorrichtung mit Bildverarbeitung

Info

Publication number
DE69709482T2
DE69709482T2 DE69709482T DE69709482T DE69709482T2 DE 69709482 T2 DE69709482 T2 DE 69709482T2 DE 69709482 T DE69709482 T DE 69709482T DE 69709482 T DE69709482 T DE 69709482T DE 69709482 T2 DE69709482 T2 DE 69709482T2
Authority
DE
Germany
Prior art keywords
image processing
line locator
crop line
crop
locator
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.)
Expired - Lifetime
Application number
DE69709482T
Other languages
English (en)
Other versions
DE69709482D1 (de
Inventor
Anthony Stentz
Regis Hoffman
Mark Ollis
William Whittaker
Kerien Fitzpatrick
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.)
Carnegie Mellon University
Original Assignee
Carnegie Mellon University
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 Carnegie Mellon University filed Critical Carnegie Mellon University
Application granted granted Critical
Publication of DE69709482D1 publication Critical patent/DE69709482D1/de
Publication of DE69709482T2 publication Critical patent/DE69709482T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • 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
    • G06—COMPUTING; CALCULATING OR 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
DE69709482T 1996-04-19 1997-04-15 Erntegutlinie-Ortungsvorrichtung mit Bildverarbeitung Expired - Lifetime DE69709482T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US1623696P 1996-04-19 1996-04-19

Publications (2)

Publication Number Publication Date
DE69709482D1 DE69709482D1 (de) 2002-02-14
DE69709482T2 true DE69709482T2 (de) 2002-11-07

Family

ID=21776080

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69709482T Expired - Lifetime DE69709482T2 (de) 1996-04-19 1997-04-15 Erntegutlinie-Ortungsvorrichtung mit Bildverarbeitung

Country Status (3)

Country Link
US (1) US5911669A (de)
EP (1) EP0801885B1 (de)
DE (1) DE69709482T2 (de)

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* Cited by examiner, † Cited by third party
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DE10328395B4 (de) * 2003-06-18 2010-11-11 Gebr. Pöttinger GmbH Verfahren zur Steuerung einer Landmaschine
DE102005005557B4 (de) * 2005-02-07 2016-02-25 Alois Pöttinger Maschinenfabrik Gmbh Vorrichtung zur Steuerung und/oder Regelung einer Landmaschine mittels einer Bilderfassungs- und -verarbeitungseinrichtung
DE102018220410A1 (de) * 2018-11-28 2020-05-28 Zf Friedrichshafen Ag Selbsttätiges Lenken einer landwirtschaftlichen Maschine auf einer landwirtschaftlichen Fläche

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DE19743884C2 (de) * 1997-10-04 2003-10-09 Claas Selbstfahr Erntemasch Vorrichtung und Verfahren zur berührungslosen Erkennung von Bearbeitungsgrenzen oder entsprechenden Leitgrößen
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DE19853085B4 (de) * 1998-11-18 2014-03-20 Claas Selbstfahrende Erntemaschinen Gmbh Verfahren zum Justieren einer an einer Feldmaschine befestigten Sensoreinheit sowie eine Justiereinrichtung und eine Feldmaschine
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IT1311624B1 (it) * 1999-12-30 2002-03-14 Claudio Ciani Apparato per il trattamento di piantagioni in filari.
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US6385515B1 (en) * 2000-06-15 2002-05-07 Case Corporation Trajectory path planner for a vision guidance system
US6364027B1 (en) * 2000-06-26 2002-04-02 Donald Tvetene Sod harvester
US6721453B1 (en) * 2000-07-10 2004-04-13 The Board Of Trustees Of The University Of Illinois Method and apparatus for processing an image of an agricultural field
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DE10129136A1 (de) * 2001-06-16 2002-12-19 Deere & Co Einrichtung zur selbsttätigen Lenkung eines landwirtschaftlichen Arbeitsfahrzeugs
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DE10204702A1 (de) * 2002-02-05 2003-08-14 Claas Selbstfahr Erntemasch Ortungssystem an selbstfahrenden landwirtschaftlichen Arbeitsmaschinen
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JP3950358B2 (ja) * 2002-04-24 2007-08-01 株式会社 神崎高級工機製作所 作業車の操向装置
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CA2427416C (en) * 2003-05-01 2010-11-16 101039130 Saskatchewan Ltd. Steering device for towed implements
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US7916898B2 (en) * 2003-09-15 2011-03-29 Deere & Company Method and system for identifying an edge of a crop
FR2859873B1 (fr) * 2003-09-22 2006-11-24 Moreau Jean Ets Procede de guidage d'un appareil agricole fonctionnant selon ce procede
DE10351861A1 (de) 2003-11-06 2005-06-09 Deere & Company, Moline Verfahren und Lenksystem zum selbsttätigen Lenken einer landwirtschaftlichen Maschine
US7412905B1 (en) 2004-05-31 2008-08-19 Richard Anthony Bishel Paddle sensor
DE102004059543A1 (de) * 2004-12-09 2006-06-29 Claas Selbstfahrende Erntemaschinen Gmbh Landwirtschaftliche Arbeitsmaschine
US20060271262A1 (en) * 2005-05-24 2006-11-30 Mclain Harry P Iii Wireless agricultural network
US7684916B2 (en) * 2005-07-01 2010-03-23 Deere & Company Method and system for vehicular guidance using a crop image
US8185275B2 (en) * 2005-07-01 2012-05-22 Deere & Company System for vehicular guidance with respect to harvested crop
US7792622B2 (en) * 2005-07-01 2010-09-07 Deere & Company Method and system for vehicular guidance using a crop image
US7404355B2 (en) * 2006-01-31 2008-07-29 Deere & Company Tractor and baler combination with automatic baling and tractor halt control
US8121345B2 (en) * 2006-05-18 2012-02-21 Applied Perception, Inc. Vision guidance system and method for identifying the position of crop rows in a field
US7865285B2 (en) * 2006-12-27 2011-01-04 Caterpillar Inc Machine control system and method
US7740083B2 (en) * 2007-07-23 2010-06-22 Trebro Holding Co., Inc. Sod harvesting apparatus
US8132700B2 (en) * 2007-08-02 2012-03-13 Trek Bicycle Corporation Bicycle accessory mounting system
US8989972B2 (en) 2008-09-11 2015-03-24 Deere & Company Leader-follower fully-autonomous vehicle with operator on side
US8195358B2 (en) 2008-09-11 2012-06-05 Deere & Company Multi-vehicle high integrity perception
US8818567B2 (en) * 2008-09-11 2014-08-26 Deere & Company High integrity perception for machine localization and safeguarding
US20100063652A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Garment for Use Near Autonomous Machines
US8229618B2 (en) * 2008-09-11 2012-07-24 Deere & Company Leader-follower fully autonomous vehicle with operator on side
US8392065B2 (en) * 2008-09-11 2013-03-05 Deere & Company Leader-follower semi-autonomous vehicle with operator on side
US9235214B2 (en) * 2008-09-11 2016-01-12 Deere & Company Distributed knowledge base method for vehicular localization and work-site management
US9188980B2 (en) * 2008-09-11 2015-11-17 Deere & Company Vehicle with high integrity perception system
US8224500B2 (en) 2008-09-11 2012-07-17 Deere & Company Distributed knowledge base program for vehicular localization and work-site management
US8195342B2 (en) * 2008-09-11 2012-06-05 Deere & Company Distributed knowledge base for vehicular localization and work-site management
US8478493B2 (en) * 2008-09-11 2013-07-02 Deere & Company High integrity perception program
US9026315B2 (en) 2010-10-13 2015-05-05 Deere & Company Apparatus for machine coordination which maintains line-of-site contact
US8233709B2 (en) * 2009-03-06 2012-07-31 Sony Corporation Color effects for compressed digital video
US8306663B2 (en) * 2009-05-13 2012-11-06 Robotic Harvesting LLC Robot with 3D grasping capability
CA2766982C (en) * 2009-07-01 2019-02-26 Mtd Products Inc Visual segmentation of lawn grass
US20110046784A1 (en) * 2009-08-18 2011-02-24 Noel Wayne Anderson Asymmetric stereo vision system
US8396597B2 (en) * 2009-08-18 2013-03-12 Deere & Company Distributed robotic guidance
US8224516B2 (en) 2009-12-17 2012-07-17 Deere & Company System and method for area coverage using sector decomposition
US8635015B2 (en) 2009-12-17 2014-01-21 Deere & Company Enhanced visual landmark for localization
US20110153338A1 (en) * 2009-12-17 2011-06-23 Noel Wayne Anderson System and method for deploying portable landmarks
US9587491B2 (en) * 2010-09-22 2017-03-07 Joy Mm Delaware, Inc. Guidance system for a mining machine
JP5626056B2 (ja) * 2011-03-18 2014-11-19 富士通株式会社 農作物画像処理プログラム、農作物画像処理方法及び農作物画像処理装置
KR101448248B1 (ko) * 2011-08-03 2014-10-07 엘지전자 주식회사 잔디 깎기용 이동로봇 및 이의 제어방법
US8857137B2 (en) * 2011-11-17 2014-10-14 Tzvi Avnery Robotic lawn mower for cutting around conveyance member
US9271446B2 (en) * 2012-06-28 2016-03-01 Forage Innovations B.V. Self-aligning apparatus and methods for gathering bales
WO2014105927A1 (en) * 2012-12-28 2014-07-03 Agco Corporation Using a virtual boom to steer agricultural equipment along the edge of worked/unworked areas
WO2014105928A1 (en) * 2012-12-28 2014-07-03 Agco Corporation Method and applications of local coordinate system based on optical flow with video cameras
EP2798928B1 (de) * 2013-04-29 2024-02-07 CLAAS E-Systems GmbH Betriebssystem für, und verfahren zum betrieb eines automatischen lenksystems eines landwirtschaftlichen fahrzeugs
US9565848B2 (en) * 2013-09-13 2017-02-14 Palo Alto Research Center Incorporated Unwanted plant removal system
US9609858B2 (en) 2013-09-13 2017-04-04 Palo Alto Research Center Incorporated Unwanted plant removal system having variable optics
WO2015035450A1 (en) * 2013-09-13 2015-03-19 Queensland University Of Technology Vision based guidance in broad-acre agriculture
US9609859B2 (en) 2013-09-13 2017-04-04 Palo Alto Research Center Incorporated Unwanted plant removal system having a stabilization system
US9642306B1 (en) * 2013-09-18 2017-05-09 Lon Owen Crosby Offset, drive-assisted header for a grain harvester
DE102014105820A1 (de) * 2014-04-25 2015-10-29 Usines Claas France S.A.S. Kombination aus einem Zugfahrzeug und einer davon gezogenen Erntemaschine
US9585309B2 (en) * 2015-07-14 2017-03-07 Cnh Industrial America Llc Header height control system for an agricultural harvester
CN105251563B (zh) * 2015-09-22 2018-04-24 中国矿业大学 一种齿辊式破碎机的自动调速控制系统及控制方法
JP6754594B2 (ja) * 2016-03-23 2020-09-16 株式会社小松製作所 モータグレーダ
US10051774B2 (en) 2016-09-16 2018-08-21 Cnh Industrial Canada, Ltd. Common lift/lower ground entrance point
JP2018097526A (ja) * 2016-12-12 2018-06-21 株式会社クボタ 作業車
ES2951738T3 (es) 2016-12-16 2023-10-24 Commw Scient Ind Res Org Escáner de cultivos
US9989835B1 (en) 2017-02-09 2018-06-05 Cnh Industrial America Llc System and method for mounting a camera on a work vehicle
IT201700058505A1 (it) 2017-05-30 2018-11-30 Volta Robots S R L Metodo di controllo di un mezzo di lavorazione del terreno sulla base di elaborazioni d'immagini e relativo sistema
CN110352697B (zh) * 2018-04-09 2022-05-17 迪尔公司 用于控制收割割台的操作参数的系统以及农业收割机
EP3820267A4 (de) 2018-07-11 2022-04-20 Raven Industries, INC. Kalibrierung eines computersichtsystems für erntegutreihen
WO2020105123A1 (ja) * 2018-11-20 2020-05-28 本田技研工業株式会社 自律作業機、自律作業機の制御方法及びプログラム
WO2020105124A1 (ja) * 2018-11-20 2020-05-28 本田技研工業株式会社 自律作業機、自律作業機の制御方法及びプログラム
WO2020134236A1 (zh) * 2018-12-29 2020-07-02 丰疆智能科技股份有限公司 收割机及其自动驾驶方法
DE102019204251A1 (de) * 2019-03-27 2020-10-01 Zf Friedrichshafen Ag Verfahren und System zur Linienerfassung auf einer landwirtschaftlichen Nutzfläche
US20220400606A1 (en) * 2021-06-18 2022-12-22 Green Industry Innovators, L.L.C. Landscaping equipment with included laser and methods of operation

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10328395B4 (de) * 2003-06-18 2010-11-11 Gebr. Pöttinger GmbH Verfahren zur Steuerung einer Landmaschine
DE102005005557B4 (de) * 2005-02-07 2016-02-25 Alois Pöttinger Maschinenfabrik Gmbh Vorrichtung zur Steuerung und/oder Regelung einer Landmaschine mittels einer Bilderfassungs- und -verarbeitungseinrichtung
DE102005005557C5 (de) 2005-02-07 2019-03-14 Pöttinger Landtechnik Gmbh Vorrichtung zur Steuerung und/oder Regelung einer Landmaschine mittels einer Bilderfassungs- und -verarbeitungseinrichtung
DE102018220410A1 (de) * 2018-11-28 2020-05-28 Zf Friedrichshafen Ag Selbsttätiges Lenken einer landwirtschaftlichen Maschine auf einer landwirtschaftlichen Fläche
US11606895B2 (en) 2018-11-28 2023-03-21 Zf Friedrichshafen Ag Automatic steering of an agricultural machine on an agricultural surface

Also Published As

Publication number Publication date
EP0801885A1 (de) 1997-10-22
EP0801885B1 (de) 2002-01-09
US5911669A (en) 1999-06-15
DE69709482D1 (de) 2002-02-14

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Legal Events

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