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.

开发和测试了人类合作农业机器人的外部传感系统。传感系统由激光扫描仪和红外传感器组成。将激光扫描仪安装在升降机上，以300毫米的距离上下移动，以捕获三维距离数据。红外传感器用于检测人的存在。从实验结果中，不仅可以通过向上和向下移动激光扫描仪来检测到对象的距离，还可以检测到对象的形状。根据从激光扫描仪和红外传感器获得的信息检测到包括位置，速度和方向在内的人类运动。还研究了用于区分人体的算法。从结果开始，即使在它们之间有一定距离时，人体彼此重叠，也可以实现歧视。FURTHERMORE，进行操纵器控制实验以避免障碍物以确认感应系统的有效性。首先，由激光扫描仪测量了机器人周围物体的距离和形状，并决定了操纵器的回避运动。其次，操纵器在避开对象的同时移动。当红外传感器检测到机器人周围的人体时，计算了危险程度，然后控制了操纵器尖端的速度。从实验结果中，操纵器避免了其操作区域内的障碍，并根据危险程度的价值成比例地改变了其速度。