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THE DEVELOPMENT OF A GUIDE DOG ROBOT

导盲犬机器人的开发

基本信息

批准号：
07555428
负责人：
MORI Hideo
金额：
$ 1.09万
依托单位：
YAMANASHI UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1997
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07555428/
关键词：
Guide dog robot DGPS Autonomous mobile robot Welfare robot Image understanding Robotic Travelaid DG・PS 歩行支援車輛検出モビリィティソナー障害物回避道路画像処理

项目摘要

We have developed two kinds of guide dog robots, vision-based guide dog robot and sonar-based one. The both robots consist of a motor wheelchair, a dead reckoning system, a sensor system (vision or sonar) and navigation system and move along the passage in the campus or corridor avoiding obstacles.1) A differential GPS system is equipped on the vision-based guide dog robot HARUNOBU-6 to get the absolute location from satelite. We found that The differential GPS was useful in the open place.2) We did a demonstration in the 8th International Symposium of Robotic Research (ISRR) at HAYAMA on 3-7 October 1997 and showed the periomance of vision-based guide dog robot.3) A psychologist estimated the sonar-based guide dog robot after two days of masking his eye, and found that the robot was useful to guide the visually impaired.4) We have developed a pedestrian recognition system in which the rhythm of walking was detected by analyzing the intensity change of the feet part of the moving object. The rhythm of walking is independent of clothes, distance and weather.5) A half of traffic accidents happen in or near the interchange. We have developed a danger estimation system at the intersection. The system detects a vehicle by the shadow underneath the vehicle, predicts its feature path based on the traffic regulation, and make the decision of safe, warning and dangerous.

我们已经开发了两种导盲犬机器人，基于视觉的导盲犬机器人和基于声纳的机器人。这两个机器人都由电动轮椅、航位推算系统、传感器系统（视觉或声纳）和导航系统组成，并在校园或走廊的通道上沿着移动，以避开障碍物。1）基于视觉的导盲犬机器人HARUNOBU-6配备差分GPS系统，以从卫星获得绝对位置。我们发现差分GPS在开阔的地方是有用的。2）我们在1997年10月3日至7日在HAYAMA举行的第8届国际机器人研究研讨会（ISRR）上做了演示，展示了基于视觉的导盲犬机器人的性能。3）一位心理学家估计了基于声纳的导盲犬机器人在蒙上眼睛两天后，并发现机器人是有用的，以指导视力受损。4）我们已经开发了一个行人识别系统，其中步行的节奏，通过分析的强度变化的脚部分的运动物体。步行的节奏与衣服、距离和天气无关。5）一半的交通事故发生在立交桥内或附近。我们开发了一个交叉口危险评估系统。该系统通过车辆下方的阴影来检测车辆，根据交通规则预测车辆的特征路径，并做出安全、警告和危险的判断。