Title:
【発明の名称】自動走行作業車用の境界検出装置
Document Type and Number:
Japanese Patent JP2520104
Kind Code:
B2
Abstract:
PURPOSE:To detect the boundaries of different directions with use of the same binarization means by switching the image-picked up image information between a state where the input coordinate system of the image information to the binarization means is changed by 90 deg. and a state where the input coordinate system has no change. CONSTITUTION:The image pickup picture signal S0 obtained by averaging an entire image through a blurring filter 8 is converted into the digitized original picture signal F1 of orthogonal coordinate systems (x) and (y) using (32X32) picture elements to form a single screen after A/D conversion. Then it is decided whether a boundary L1 is detected in the middle of a process and in the lateral direction of a device body or a boundary L2 is detected at the end part of a process and in the front-rear direction of the device body. When the boundary L2 is detected, the address coordinates of an image memory 11 is changed by 90 deg.. Thus the image information S2 obtained by changing the coordinates of the picture signal S1 by 90 deg. and storing it is used. When the boundary L1 is detected, the signal S1 of the same coordinate system as the signal S0 is used to differentiate the image data through a differentiation part 20. Then only the differential code of the plus or minus direction only is subjected to binarization by a binarization part 30.
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Inventors:
HAYASHI MASAHIKO
Application Number:
JP16372985A
Publication Date:
July 31, 1996
Filing Date:
July 23, 1985
Export Citation:
Assignee:
KUBOTA KK
International Classes:
A01B69/00; G06K9/36; G06T1/00; G05D1/02; (IPC1-7): G05D1/02; A01B69/00; G06T1/00
Domestic Patent References:
| JP52153531A | ||||
| JP52152026A | ||||
| JP50111941A | ||||
| JP547161B2 |
Attorney, Agent or Firm:
Kitamura Osamu