公开(公告)号：US5911669A

公开(公告)日：1999-06-15

申请号：US840771

申请日：1997-04-16

申请人： Anthony Stentz ,  Mark Ollis ,  Kerien Fitzpatrick ,  Regis Hoffman ,  William Whittaker

发明人： Anthony Stentz ,  Mark Ollis ,  Kerien Fitzpatrick ,  Regis Hoffman ,  William Whittaker

IPC分类号： A01B69/00 ,  A01D41/127 ,  G06F15/20

CPC分类号： A01D41/1278 ,  A01B69/001

摘要： 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 j.sub.n 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.

摘要翻译： 自走式收割机具有用于跟踪作物线并且在没有操作者帮助的情况下沿着作物线转向收割机的装置。 该装置包括摄像机，用于观看收割机前面的景观，并形成可以逐像素地并行逐行扫描的图像，以产生包含关于每个像素处的图像的光谱特性的信息的视频信号 。 微处理器被编程为用作鉴别器和分段器。 鉴别器产生判别信号D（i，j），其中i是判别函数的幅度，j是像素在扫描线上的相对位置。 分段器确定最适合一条扫描线的判别信号的幅度的阶梯函数。 将与该步骤功能相对应的像素位置jn作为对作物线的位置的投票，从而对收割机的方向进行投票。 在图像的一次完整扫描中对每个像素位置j求和。 然后将总和投票进行归一化，时间加权，并使用从先前扫描的图像导出的归一化和时间加权投票来平均，以得出转向指令。