AUTONOMOUS WEEDING ROBOT WITH PARALLEL MANIPULATOR

并联机械手自主除草机器人

• 批准号: 09556053
• 负责人: TORII Toru
• 金额: $ 8.77万
• 依托单位: The University of Tokyo
• 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-09556053/
• 关键词: Parallel Mechanism; Mechanical Weeding; Crop Raw Tracking; Image Analysis; Autonomous Nacigation; パラレルマニピュレータ; ロボット; パラレルマニュピレータ

Movement of a parallel manipulator was examined, and an autonomous navigation in the field was tested.1) A high speed handing test of Hexa robot, which was constucted as a weeding manipulator, was executed. Taking an advantage of a high speed handling apparatus, a development of an increase of a handing force applying a inertia force was performed. Row crop tracking of a weeding apparatus using a parallel mechanism was tested.2) A new image analysis algorithm, which detect the soil frrow area, was developed. After color transformation and noise reduction, to detect the soil furrow area on which the camera should track, the largest soil area was selected using a labeling operation. A three dimensional perspective view transformaion was executed, resultig that the offset error was within 6cm, and the attitude angle error was within 1.5 deg. The autonomous navigation test in the field was also tested, resulting that the offset error was within 6cm at the speed of 0.5 m/s.

研究了并联机器人的运动特性，并进行了田间自主导航试验。1）对Hexa机器人进行了除草机械手的高速搬运试验。利用高速处理设备的优点，进行了增加施加惯性力的处理力的开发。研究了一种基于并联机构的除草器中耕作物跟踪试验。2）提出了一种新的图像分析算法，用于检测土壤耕层面积。在颜色变换和降噪之后，为了检测相机应该跟踪的土壤犁沟区域，使用标记操作选择最大的土壤区域。对三维透视图进行了变换，得到了偏移误差在6cm以内，姿态角误差在1.5 °以内的结果。还进行了野外自主导航试验，结果在0.5米/秒的速度下，偏移误差在6厘米以内。

项目成果

T.Torii et al: "Vision-guided tractor" Proceedings of AgEng 98. 2. 635-636 (1998)

T.Torii 等人：“视觉引导拖拉机”AgEng 论文集 98. 2. 635-636 (1998)

Toru Torii et al.: "Autonomous Navigation of Rice Husbandry Vehicle Using Machine Vision"ASAE Paper 993005. 1-8 (1999)

Toru Torii 等人：“使用机器视觉的稻田畜牧车辆自主导航”ASAE Paper 993005. 1-8 (1999)

Toru Torii et al.: "Crop Row Tracking by an Autonomous Vehicle Using Machine Vision (Part 1)"Journal of Japanese Society of Agricultural Machinery. 62・2. 41-48 (2000)

Toru Torii 等人：“使用机器视觉的自动驾驶车辆进行农作物行追踪（第 1 部分）”日本农业机械学会杂志 62・2（2000 年）。

Toru Torii et al: "Crop Row Tracking by an Autonomous Vehicle Using Machine Vision (Part 1)"Journal of Japanese Society of Agricultural Machinery. 62・4. 41-48 (2000)

Toru Torii 等人：“使用机器视觉的自动车辆进行农作物行追踪（第 1 部分）”日本农业机械学会杂志 62・4（2000 年）。

Toru TORII, Satoshi KITADE, Tsukasa TESHIMA, Tsuguo OKAMOTO, Kenji IMOU and Masayoshi TODA: "Crop Row Tracking by an Autonomous Vehicle Using Machine Vision (part 1)"Journal of the JAPANESE SOCIETY of AGRICULTURAL MACHINERY. 62(2). 41-48 (2000)

Toru TORII、Satoshi KITADE、Tsukasa TESHIMA、Tsuguo OKAMOTO、Kenji IMOU 和 Masayoshi TODA：“使用机器视觉的自动驾驶车辆进行农作物行追踪（第 1 部分）”日本农业机械学会杂志。