Title:
METHOD FOR CONTROLLING TRAVEL OF SELF-TRAVELING WORKING VEHICLE
Document Type and Number:
Japanese Patent JP3585948
Kind Code:
B2
Abstract:
PURPOSE: To improve the controlling of the travel of a self-traveling working vehicle by binary-coding a picture image and subsequently computing an accurate boundary- approximating straight line from the binary-coded picture image, when the boundary is detected from the imaged picture image for controlling the travel of the self- traveling working vehicle along the boundary between a worked target region and a non-worked target region.
CONSTITUTION: A slice level for binary-coding a picture image is set to an average value near to the maximum value of changed brightness quantities in the picture image region, e.g. to the about 50% of the average value of 10 data in the higher rank, and picture elements exceeding the slice level are extracted from a differential value picture image. A straight line approximating a working boundary is computed by the Hough transformation of the binary picture image. Thereby, the fluctuation of the slice level due to the changes of the ratio of a worked target region to a non- worked target region, which are imaged on the picture such as a case wherein a slice level is computed on the average value of the whole picture, can be prevented, and the picture image can surely be binary-coded. The affection of noises can be reduced more than a case in which a straight line is computed by a method of least square, etc.
Inventors:
Nohyuki Togawa
Application Number:
JP1556194A
Publication Date:
November 10, 2004
Filing Date:
February 09, 1994
Export Citation:
Assignee:
Fuji Heavy Industries Ltd.
International Classes:
G05D1/02; G06T1/00; G06T7/00; A01B69/00; G06T7/60; (IPC1-7): A01B69/00; G05D1/02
Domestic Patent References:
| JP63293402A | ||||
| JP4158412A | ||||
| JP4126004A |
Attorney, Agent or Firm:
Susumu Ito