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DEVELOPMENT OF AUTONOMOUS VEHICLE FOR AGRICULTURAL ROBOT

农业机器人自主车辆的开发

基本信息

批准号：
05556041
负责人：
NAMIKAWA Kiyoshi
金额：
$ 4.99万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research (B)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1995
项目状态：
已结题

项目摘要

This study is the development of autonomous traveling system for agricultural vehicle and robot. The following were done this year.1) Development of autonomous vehicle following system using the image processingThis study is to develop the vehicle which follows the guiding vehicle automatically using the image processing. The purpose of this study is cooperative farming operation by more than two agricultural vehicless, such as forage harvesting. We examined to follow the guiding vehicle along the straight line, the lane change path and the sinusoidal wave by the autonomous vehicle with a video camera. Its accuracy seemed enough for agricultural use.2) Development of agricultural vehicle for narrow pathThis is the development of the agricultural vehicle to travel the narrow path such as furrow. This vehicle was installed a piezo-gyroscope and a radar velocity sensor as the internal sensor to travel automatically in the farm. We examined to travel the straight line by using of the internal sensor. As the result, the autonomous traveling of the vehicle with the internal sensor was possible. In the case that the vehicle went along the straight line of the distance 20m, the position error between the target point and the stop point was 1.2m.3) Positioning control of manipulator on the vehicleThis is to control the position at the end of manipulator on the vehicle. It is important for the agricultural robot to do farming operation with the robot traveling. But it is difficult to control the position of manipulator due to the roughness of the path and so on. Therefore, we presented the control method using an angle meter for the plow equipment. In the experiment, the manipulator installed on the vibrator, which vibrated along the sinusoidal wave, was controlled to position at the target point. As the result, it was effective to compensate for the delay time of manipulator and angle meter.

本研究是农用车和机器人自主行走系统的研制。1)基于图像处理的自动车辆跟踪系统的研制本研究的目的是利用图像处理技术开发自动跟踪导引车的车辆。本研究的目的是由两辆以上的农用车进行合作经营，如牧草收割。利用摄像机对自动驾驶车辆沿直线、变道路径和正弦波进行跟踪试验。它的精度似乎足以满足农业用途2)农用小车的发展这就是农用小车在狭窄的小路上行驶，如犁沟。这辆车安装了一个压电式陀螺仪和一个雷达速度传感器作为内部传感器，在农场中自动行驶。我们利用内部传感器进行了直线行走试验。因此，使用内部传感器的车辆自动行驶是可能的。在车辆沿直线行驶距离为20m的情况下，目标点与停车点之间的位置误差为1.2m。3)车载机械手的定位控制这是对车载机械手末端位置的控制。对于农业机器人来说，随着机器人的行走进行农业作业是非常重要的。但由于路径粗糙等原因，给机械手的位置控制带来了困难。为此，提出了利用测角仪对耕作设备进行控制的方法。在实验中，安装在振子上的机械手沿正弦波振动，控制机械手定位在目标点上。结果表明，该方法能有效地补偿机械手和测角器的延迟时间。