US 12,488,586 B2
Row detection system and agricultural machine
Yuma Arakawa, Sakai (JP); and Mitsuaki Nagao, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by Kubota Corporation, Osaka (JP)
Filed on Jun. 17, 2024, as Appl. No. 18/744,798.
Claims priority of application No. 2023-103206 (JP), filed on Jun. 23, 2023.
Prior Publication US 2024/0428583 A1, Dec. 26, 2024
Int. Cl. G06V 20/10 (2022.01); A01B 69/00 (2006.01); A01B 69/04 (2006.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/28 (2022.01); G06V 10/44 (2022.01); G06V 10/56 (2022.01); G06V 10/764 (2022.01); G06V 20/56 (2022.01); H04N 23/90 (2023.01)
CPC G06V 20/188 (2022.01) [A01B 69/001 (2013.01); A01B 69/008 (2013.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/28 (2022.01); G06V 10/44 (2022.01); G06V 10/56 (2022.01); G06V 10/764 (2022.01); G06V 20/56 (2022.01); G06T 2207/30188 (2013.01); G06T 2207/30252 (2013.01); H04N 23/90 (2023.01)] 16 Claims
OG exemplary drawing
 
1. A row detection system comprising:
a first imaging device to be mounted on an agricultural machine including a plurality of wheels including a pair of front wheels and a pair of rear wheels, the first imaging device being operable to image a ground surface and generate a first image concerning a first region of the ground surface;
a second imaging device to be mounted on the agricultural machine and operable to image the ground surface and generate a second image concerning a second region of the ground surface, the second region being shifted rearward from the first region; and
a processor configured or programmed to perform image processing for the first image and the second image; wherein
the second imaging device is located so that at least a portion of each front wheel and at least a portion of each rear wheel are included in the second image; and
the processor is configured or programmed to:
convert the first image into a first plan view image as viewed from above the ground surface;
convert the second image into a second plan view image as viewed from above the ground surface; and
select a region of interest from the first plan view image based on a position of each front wheel and a position of each rear wheel in the second plan view image, and perform a row detection process targeted at the region of interest.