GROUP CONTROL OF MULTIPLE VEHICLES IN FARMING SYSTEM

本研究旨在研制一种用于风扇系统中多车相对方向检测的传感器。我们设计了一种基于新概念的传感器，即通过检测光束的方向来了解车辆的方向。该传感器由两部分组成，一部分是发射体对红外进行圆形扫描，另一部分是光电接收器检测来自发射体的红外。该发射器有80个红外LED，40片×2行圆形排列，6 MHz调制，以减少太阳等干扰的影响。光接收器由圆锥镜、凸透镜和PSD组成，光接收器的输出是x和y模拟电压，它们是表示光束方向的矢量的分量。通过实验得到了以下结果：(1)最大距离范围为22.5米，高度方向带宽为16 cm。(2)5m方向的探测精度为4.5 0 rms，20 m方向的探测精度为16.7 0 rms。误差的均方根值随着距离的增加而增大，但高度差的误差没有发现差异。影响精度的主要误差因素是单位倾角，这是今后研究的重点。(3)在晴天少云的情况下，太阳等扰动的影响较小。

This study is intended to develop a sensor for detecting the relative direction between multiple vehicles in fanning system. We devised the sensor based on new concept that knowing direction of vehicle by detecting direction which light beam coming. This sensor consists of two parts, the one is the emitter scanning infrared circularly and the other one is the photo receiver detecting infrared from the emitter. The emitter has 80 infrared LED arranged 40 pieces times 2 lines circularly with 6 MHz modulation for reducing influence of disturbance such the sun etc.. The photo receiver consists of a circular cone mirror, a convex lens and a PSD.The output of this photo receiver are x and y analog voltages, which are components of the vector expressing the direction of light beam. We obtained the following results by the experiment.(1 )The maximum distance range was 22.5m, the band width in height direction was 16cm.(2)The accuracy of detecting for the direction was 4.5 0 RMS at 5m, 16.7 0 RMS at 20m. And the RMS of the error increased as the distance increased, however the difference of error in the difference of height was not found. The main factor of error being influential in the accuracy was inclination of units, this is the most subject of the future study.(3 )The influence of disturbance such the sun etc. was a little under the situation of the fine day with a little cloud.