BASIC STUDY ON AN AGRICULTRAL WALKING VEHICLE

农用步行车的基础研究

• 批准号: 09460115
• 负责人: YAMAMOTO Hiroaki
• 金额: $ 5.89万
• 依托单位: Kobe University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09460115/
• 关键词: Agricultural Vehicle; Walking Machine; Quadruped; Pantograph Mechanism; Walking Gait; Straight Walking; Lateral Walking; Rotational Walking; パンタフラフ機構; ユニット構造

This research has been done to observe the capability of applying a walking mechanism to the agricultural transportation vehicle. The following items were done during the given period of study.1.Decision of mechanism for a walking vehicle. Based on some information from previous studies on walking robots, we have decided the number of leg to be 4, the number of DOF per leg is 3. We employed the pantograph mechanism for the leg.2.Manufacturing of experimental walking vehicle. We have designed a prototype vehicle where the unit structure was employed. After walking experiment for initial model, we modified more powerful motor unit for body elevation. Quadruped walking gait was found by try-and-error method which turned out to be almost the same as wave gait.3.Discussion on control system and walking pattern. We have developed a motor-control program for mounted computer system. By using the modified walking vehicle, the walking velocity was about 0.23cm/sec for straight walk. We further … More realized the lateral walking and the rotational walking by our vehicle. Moreover, we added some sensors to measure distributed body load and body gradient angle and results showed that the translation of C.G. must be done by considering the feedback of information from the load cell systems.4.Discussion on surrounding environmental status detection. Ultrasonic sensor was firstly applied to check the capability of detecting plane surface, grooved surface and step. The result told us that the application of ultrasonic sensor is not suitable for sudden change of environments. Later, we applied the stereo image processing system to measure the length of particular point on a soil surface. We found that this system will be applicable to the walking vehicle system.5.Summary. We have developed an experimental walking vehicle. In future agriculture, there may be the chance of application especially in the situation of no-paved road conventional agricultural machinery. Further research should be concentrated on the applied walking on not only flat terrain but also on the slope. Less

本研究是为了观察行走机构在农业运输车辆上的应用能力。在给定的研究期间，完成了以下项目：步行车辆机构的确定。根据前人对行走机器人的研究，我们决定每条腿的数量为4，每条腿的自由度为3。我们在腿上使用了受电弓机构。实验步行车的制造。我们已经设计了一辆采用单元结构的原型车。在对初始模型进行步行实验后，我们修改了更强大的运动单元用于人体抬高。通过试错法发现四足动物的行走步态与波浪步态基本一致。控制系统及行走方式的探讨。我们开发了一个用于安装计算机系统的电机控制程序。使用改进的步行车，直线行走的步行速度约为0.23cm/sec。我们进一步实现了车辆的横向行走和旋转行走。此外，我们增加了一些传感器来测量分布体载荷和体梯度角，结果表明，重力加速度的平移必须考虑来自称重传感器系统的信息反馈。周边环境状态检测的探讨。首先应用超声传感器对平面、槽面和台阶的检测能力进行了检测。结果表明，超声波传感器不适用于环境的突然变化。随后，我们应用立体图像处理系统测量土壤表面特定点的长度。我们发现该系统将适用于步行车辆系统。我们研制了一种实验性的步行车。在未来的农业中，特别是在无铺装道路的情况下，传统农机可能有应用的机会。进一步的研究应集中在不仅在平坦地形上而且在斜坡上的应用。少

项目成果

H.YAMAMOTO et al.: "Basic study on a quadruped walking vehicle in agriculture-Part 2 : Automatic control for static walking of vehicle-"Kansai Branch Report of JSAM. No.86(in Japanese). 7-8 (1999)

H.YAMAMOTO 等人：“农业中四足行走车辆的基础研究 - 第 2 部分：车辆静态行走的自动控制 -”JSAM 关西分部报告。

山本博明: "農用歩行車両に関する研究-第2報:応用歩行のためのセンサについて-"農業機械学会関西支部報. 87号. 73-76 (2000)

Hiroaki Yamamoto：“农用步行车辆的研究 - 第 2 次报告：关于应用步行的传感器 -”日本农业机械学会关西分会杂志第 87. 73-76（2000 年）。

山本博昭: "農用歩行車両に関する研究-第1報:4足歩行パターンの検討-"農業機械学会関西支部報. 85号. 5-8 (1999)

山本宏明：“农用步行车辆的研究 - 第 1 次报告：四足行走模式的检验”日本农业机械工程师学会关西分会公报第 85. 5-8 号（1999 年）。

H.YAMAMOTO et al.: "Study on a walking vehicle in agriculture-Part2 : On a sensor system for applied walking on flat terrain-"Kansai Branch Report of JSAM. No.87(in Japanese). 73-76 (2000)

H.YAMAMOTO 等人：“农业步行车辆的研究 - 第 2 部分：平坦地形上应用步行的传感器系统 -”JSAM 关西分部报告。

H.YAMAMOTO et al.: "Study on a walking vehicle in agriculture-Part 1 : Discussion on a quadruped walking pattern-"Kansai Branch Report of JSAM. No.85(in Japanese). 5-8 (1999)

H.YAMAMOTO 等人：“农业步行车辆的研究 - 第 1 部分：四足步行模式的讨论 -”JSAM 关西分部报告。