Vision-based crop line tracking for harvesters
First Claim
1. A method of steering an agricultural harvester along a crop line, the harvester having control means for steering wheels to thereby steer the harvester, said method comprising:
- a) mounting on said harvester a viewing means oriented to view and form an image of a landscape, including a crop line, in front of the harvester;
b) scanning at least a window of the image pixel-by-pixel and line-by-line to produce information signals representing said image;
c) generating, from the information signals, a plurality of discriminant function signals D(i,j) for each scan line, where j is the relative position of a pixel on a scan line and i is the magnitude of a discriminant function for pixel j;
d) determining, for each scan line, a pixel position jn representing the pixel position of a step in a step function which best fits the magnitudes of the discriminant function signals produced for the scan line;
e) developing a sum of the number of times the step function occurs at each pixel position during a complete scan of the window to develop, for that window, vote counts indicating steering direction preferences;
f) repeating steps b) through e); and
,g) applying to the control means a steering signal determined from the vote counts developed for a plurality of windows.
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Accused Products
Abstract
A self-propelled harvester is provided with apparatus for tracking a crop line and steering the harvester along the crop line without operator assistance. The apparatus includes a video camera for viewing the landscape in front of the harvester and forming an image which may be electronically scanned pixel-by-pixel and line by line to produce a video signal containing information regarding the spectral characteristics of the image at each pixel. A microprocessor is programmed to act as a discriminator and a segmentor. The discriminator produces discriminant signals D(i,j) where i is the magnitude of a discriminant function and j is the relative position of a pixel on a scan line. The segmentor determines a step function which best fits the magnitudes of the discriminant signals for one scan line. The pixel position jn corresponding to the step of this step function is taken as a vote on the location of the crop line and thus a vote on the direction the harvester should be steered. The votes are summed for each pixel position j over one full scan of image. The summed votes are then normalized, time-weighted, and averaged with the normalized and time-weighted votes derived from previously scanned images to derive a steering command.
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Citations
21 Claims
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1. A method of steering an agricultural harvester along a crop line, the harvester having control means for steering wheels to thereby steer the harvester, said method comprising:
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a) mounting on said harvester a viewing means oriented to view and form an image of a landscape, including a crop line, in front of the harvester; b) scanning at least a window of the image pixel-by-pixel and line-by-line to produce information signals representing said image; c) generating, from the information signals, a plurality of discriminant function signals D(i,j) for each scan line, where j is the relative position of a pixel on a scan line and i is the magnitude of a discriminant function for pixel j; d) determining, for each scan line, a pixel position jn representing the pixel position of a step in a step function which best fits the magnitudes of the discriminant function signals produced for the scan line; e) developing a sum of the number of times the step function occurs at each pixel position during a complete scan of the window to develop, for that window, vote counts indicating steering direction preferences; f) repeating steps b) through e); and
,g) applying to the control means a steering signal determined from the vote counts developed for a plurality of windows. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A self-propelled agricultural harvester having control means for steering wheels to thereby steer the harvester, said harvester further comprising:
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a viewing means mounted on the harvester and oriented to view and form images of a landscape, including a crop line, in front of the harvester, the viewing means having associated therewith a scanning means for scanning at least a window of an image pixel-by-pixel and line-by-line to produce information signals representing said image; first means for generating, from the information signals, a plurality of discriminant function signals D(i,j) for each scan line, where j is the relative position of a pixel on a scan line and i is the magnitude of a discriminant function for pixel j; second means, responsive to said first means, for determining, for each scan line, a pixel position jn representing the pixel position of a step in a step function which best fits the magnitudes of the discriminant function signals produced for the scan line; a plurality of counters, there being at least one counter corresponding to each pixel position of the window on one scan line, said counters being responsive to said second means for accumulating totals of the number of times said step occurs at each pixel position during a complete scan of one image, said totals representing vote counts indicating steering direction preferences; and
,third means, responsive to said vote counts, for applying to the control means a steering signal determined from the vote counts. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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Specification