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EXTERNAL SENSING SYSTEM FOR AGRICULTURAL ROBOT

农业机器人外部传感系统

基本信息

批准号：
12660232
负责人：
MONTA Mitsuji
金额：
$ 1.47万
依托单位：
OKAYAMA UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2001
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12660232/
关键词：
ROBOT SENSING SYSTEM LASER SCANNER INFRARED SENSOR OBSTACLE AVOIDANCE MAN-MACHINE COOPERATION BIO-PRODUCTION MEASUREMENT OF LOCATION センシング距離センサ識別

项目摘要

An external sensing system for human cooperative agricultural robots was developed and tested. The sensing system consisted of a laser scanner and infrared sensors. The laser scanner was mounted on a lift moved up and down at a distance of 300 mm to capture a three-dimensional distance data. The infrared sensors were used to detect the existence of human. From the experimental results, not only the distance to an object but also the shape of the object was detected by moving the laser scanner up and down. The human motions including location, speed and direction were detected based on the information obtained from the laser scanner and the infrared sensors. An algorithm for discriminating human bodies was also investigated. From the result, the discrimination was achieved even if human bodies overlapped each other crosswise when there was some distance between them.Furthermore, manipulator control experiments for obstacle avoidance were carried out to confirm effectiveness of the sensing system. First, the distances and the shapes of objects around a robot were measured by the laser scanner, and an avoidance motion of manipulator was decided. Secondly, the manipulator moved while avoiding the object. The degree of danger was calculated when infrared sensors detected a human body around the robot, then a speed of manipulator tip was controlled. From the experimental results, the manipulator avoided obstacles within its operating area and changed its speed in proportion to the value of degree of danger.

研制了一种用于人类合作农业机器人的外部传感系统，并对其进行了测试。传感系统由激光扫描仪和红外传感器组成。激光扫描仪被安装在上下移动300 mm的升降机上，以获取三维距离数据。红外传感器被用来探测人类的存在。实验结果表明，通过上下移动激光扫描仪，不仅可以检测到物体的距离，还可以检测到物体的形状。根据激光扫描仪和红外传感器获取的信息，检测人体的位置、速度和方向等运动。文中还研究了一种人体识别算法。实验结果表明，当人体之间存在一定距离时，即使人体交叉重叠也能实现识别，并通过机械手避障控制实验验证了该传感系统的有效性。首先，利用激光扫描仪测量机器人周围物体的距离和形状，确定机械手的避让运动。其次，机械手在躲避物体的同时移动。当红外传感器检测到机器人周围有人体时，计算危险程度，然后控制机械手尖端的速度。从实验结果来看，机械手避开了其操作区域内的障碍物，并根据危险程度的大小改变了速度。