A robust real velocity sensing for agrimotors by Orientation Code Matching

The aim of this article is to develop a robust real velocity sensing system for agrimotors such as sprayers and harvesters of which large slip in the fields is unavoidable. Shifting displacement on ground is measured indirectly by using image matching, instead of conventional tachometer measuring method. In so doing, robust sensing system which eliminates the influences of such as bad weather and the changes in field condition is realized by using OCM for its basis. The validity of the system is verified through the velocity sensing experiment of the agrimotor equipped with prototype system in the real agricultural fields under rain condition and in the fields which require different types of work depending on the crops.