AUTOMATIC STEERING OF RICE PLANTER BY STEREO GUIDE SYSTEM

本研究的目的是开发基于立体导向系统的水稻播种机自动转向系统。制作了摄像机和图像处理板的试验装置，并在混凝土路面和非公路上进行了试验。我们在摄像机和水稻播种机之间20米的距离上成功地实现了一线的自动转向。并通过等距离摇摄控制，成功实现了第二车道的自动转向。为扩大自动转向距离，采用计算机控制变焦，实现了摄像机与水稻播种机之间34m距离的一线自动转向。然而，在超过30m的距离内，出现了接收信号失败的情况。我们的下一个问题是提高无线调制解调器和转向控制的准确性。由于回转直径较大，为了缩短回转直径，必须采用计算机对播种机的离合器和断头进行控制。对水稻播种机进行图像处理，不仅要实现直行控制，还要实现转弯控制。

The object of this study is to develop the automatic steering of rice planter by the stereo guide system. Trial apparatus of a video-camera and image processing board was fabricated and tested on the concrete road and off-road. We succeeded the automatic steering for the first lane by 20 m distance between video-camera and rice planter. And we succeeded the automatic steering for the second lane by pan controlling at the same distance. In order to extend automatic steering distance, we can control the zooming by computer, and succeeded the automatic steering for the first lane by 34 m distance between video-camera and rice planter. However, there were the failure of receiving signal at more than 30 m distance. Our next problems are to improve the wireless modem and accuracy of steering control. Since the turning diameter was large, it is necessary that the clutch and the break controlling of rice planter by computer in order to shorten it. And it is necessary to control the rice planter by image processing not only straight running but also turning.