Automated managing machines are used to manage paddy fields for the entire growing period, from the planting of seedlings to earring. This article proposes a detection algorithm for the traveling direction line of such machines under various conditions through the use of image processing. The space between rice rows, which is regarded as the traveling route, is judged using the concentration of blue in the image. The candidate points of traveling direction were detected by analyzing each horizontal color-line profile. The end of the paddy field, if not covered by rice, was detected by analyzing the change in the distribution of brightness from the bottom to the top of the image on the target space. The traveling direction line was detected by passing a known-point Hough transform. The algorithm requires only 0.2 seconds to draw the detected line after receiving the color image.
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