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1. WO2020110027 - AN IMPROVED METHOD FOR CONTROLLING A SOIL WORKING MEANS BASED ON IMAGE PROCESSING AND RELATED SYSTEM

Publication Number WO/2020/110027
Publication Date 04.06.2020
International Application No. PCT/IB2019/060228
International Filing Date 27.11.2019
IPC
A01F 15/08 2006.01
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
FTHRESHING; BALING OF STRAW, HAY OR THE LIKE; STATIONARY APPARATUS OR HAND TOOLS FOR FORMING OR BINDING STRAW, HAY OR THE LIKE INTO BUNDLES; CUTTING OF STRAW, HAY OR THE LIKE; STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
15Baling presses for straw, hay or the like
08Details
A01B 69/00 2006.01
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
G01S 3/786 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
3Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
78using electromagnetic waves other than radio waves
782Systems for determining direction or deviation from predetermined direction
785using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
786the desired condition being maintained automatically
CPC
A01B 49/04
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
49Combined machines
04Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
A01B 69/001
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
001Steering by means of optical assistance, e.g. television cameras
A01F 15/0833
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
FPROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
15Baling presses for straw, hay or the like
08Details
0825Regulating or controlling density or shape of the bale
0833for round balers
G01S 3/786
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
3Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
78using electromagnetic waves other than radio waves
782Systems for determining direction or deviation from predetermined direction
785using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
786the desired condition being maintained automatically ; , i.e. tracking systems;
Applicants
  • VOLTA ROBOTS S.R.L. [IT]/[IT]
Inventors
  • REVELLI, Silvio
Agents
  • PENNACCHIO, Salvatore Giovanni
  • LONG, Giorgio
  • CRIPPA, Paolo Ernesto
  • MOZZI, Matteo
  • CROCE, Valeria
  • LEIHKAUF, Steffen Falk
  • BRUNAZZI, Stefano
  • CARLUCCIO, Sergio Claudio Emilio
Priority Data
10201800001073730.11.2018IT
Publication Language English (EN)
Filing Language Italian (IT)
Designated States
Title
(EN) AN IMPROVED METHOD FOR CONTROLLING A SOIL WORKING MEANS BASED ON IMAGE PROCESSING AND RELATED SYSTEM
(FR) PROCÉDÉ AMÉLIORÉ DE COMMANDE D’UN MOYEN DE TRAVAIL DU SOL SUR LA BASE D'UN TRAITEMENT D’IMAGE ET SYSTÈME ASSOCIÉ
Abstract
(EN)
The invention relates to improvements to a method (100) for controlling a soil working means based on image processing. The soil working means comprises a locomotion member (201) for moving the working means at a predetermined speed (V). The method comprises the steps of: acquiring (101) at least one digital image of the soil by means of digital image acquisition means (203) installed on the working means; processing (102) the at least one digital image acquired through a first processing process with which a first computational complexity is associated; obtaining (103) at least one syntheticdescriptor (DS) of the soil based on such a processing; the synthetic descriptor includes a first parameter (P1) or a second parameter (P2) or a third parameter (P3); comparing (104) at least one of the first, second and third parameters with a respective preset threshold value (k1, k2, k3); if the at least one of the first, second and third parameters is lower than the respective preset threshold value, the method comprises the step (105) of generating a control signal of said locomotion member to reduce the speed of the soil working means.
(FR)
La présente invention concerne des améliorations pour un procédé (100) de commande d’un moyen de travail du sol sur la base d’un traitement d’image. Le moyen de travail du sol comprend un élément de locomotion (201) pour déplacer le moyen de travail à une vitesse prédéterminée (V). Le procédé comprend les étapes consistant à : acquérir (101) au moins une image numérique du sol à l’aide d'un moyen d'acquisition d'image numérique (203) installé sur le moyen de travail ; traiter (102) la ou les images numériques acquises par un premier processus de traitement auquel une première complexité de calcul est associée ; obtenir (103) au moins un descripteur synthétique (DS) du sol reposant sur un tel traitement ; le descripteur synthétique comprend un premier paramètre (P1) ou un deuxième paramètre (P2) ou un troisième paramètre (P3) ; comparer (104) le premier, deuxième et/ou troisième paramètre à une valeur de seuil prédéfinie respective (k1, k2, k3) ; si le premier, le deuxième et/ou le troisième paramètre est inférieur à la valeur de seuil prédéfinie respective, le procédé comprend l'étape (105) de génération d'un signal de commande dudit élément de locomotion pour réduire la vitesse du moyen de travail du sol.
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