Development of GPS aided virtual vision system to prevent disasters in the snow removal operation of Shiretoko pass

知床峠除雪作业防灾GPS辅助虚拟视觉系统的开发

• 批准号: 16310123
• 负责人: HANIU Hiroyuki
• 金额: $ 7.23万
• 依托单位: Kitami Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2004
• 资助国家: 日本
• 起止时间: 2004 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-16310123/
• 关键词: Shiretoko Pass; World heritage site; Snow removal operations; Virtual vision system; RTK-GPS; Digital compass; Prevention of disaster; Heavy machine for snow removal

In order to provide safety in the snow removal operation with heavy machine at the site of over 7m of snow accumulation in the Shiretoko pass which go through the word heritage registered Shiretoko peninsula, 3D virtual vision system by means of high precision RTK-GPS was developed. In the fiscal year of 2004, a prototype of the system was made. Before snow fall of the year, geometrical data around the Shiretoko pass were taken by RTK-GPS, and test operations were conducted at the same site on the April of 2005. In the region of data density approximately 1 data per square meter, present location of the system was shown on the virtual image in good accuracy. However in the region of coarse data density, present location was not shown correctly. After that, in the fiscal year of 2005, the quality of 3D visualization of the virtual vision system and usability were improved. Also, before the snow fall, fine geometrical data around the Shiretoko pass were taken and the test operations were … More conducted again. This time, the test operations shown good results in the approximately 1Km span of the test region. However, since the position decode error at the fix RTK-GPS is sent to the mobile RTK-GPS aboard the heavy machine by wireless, the system did not work correctly at the hiding region behind hill beyond a curve. In Kitami city, where our institute is located, the position decode error at the fixed RTK-GPS in public use is easily obtained by a portable terminal. Therefore, in the trajectory control of the automatic snowplow and visualization of 2D virtual vision, the position decode error can be obtained with out trouble like the case of wireless in Shiretoko. However, the portable terminal facility is not available in Shiretoko pass, and establishment of the way of sending position decode error from the fixed RTK-GPS is major task to be solved. Up to date in the proof tests, follow up characteristics of the system to rotating motion of the heavy machine (Power shovel) is also clarified, and it became clear that the digital compass for sensing the orientation is affected by the huge metallic mass of the heavy machine and gives slight error in the orientation reading. In the future development, two RTK-GPS system should be mounted on the heavy machine to obtain not only precise orientation but also precise inclination of the heavy machine. On April 7th and 8th, the latest developed system was brought to the site of snow removal operation in Shiretoko pass, and test operations were conducted. The system was able to show the road buried under the snow very precisely, and the system is proofed to be capable in practical use. In the future development, it is very important to make the boot up of the system by one push of button so that the heavy machine operator unfamiliar with the GPS system can use the system easily. Less

为确保在世遗名录香藤子半岛上7米以上积雪现场使用重型机械进行除雪作业的安全性，研制了基于高精度RTK-GPS的三维虚拟视觉系统。在2004财政年度，制作了该系统的原型。在那年的降雪之前，通过RTK-GPS获取了芝藤子山口周围的几何数据，并于2005年4月在同一地点进行了测试操作。在数据密度约为每平方米1个数据的区域内，系统的当前位置在虚拟图像上显示得很准确。然而，在数据密度较大的区域，当前位置显示不正确。此后，在2005财政年度，虚拟视觉系统的3D可视化质量和可用性都得到了提高。此外，在降雪之前，还采集了芝藤子山口周围的精细几何数据，并进行了…测试再次进行了更多的调查。这一次，测试作业在测试区约1公里跨度内显示出良好的效果。然而，由于固定RTK-GPS的位置译码误差是通过无线方式发送给重型机械上的移动RTK-GPS，因此系统在曲线以外的山丘后隐藏区域无法正常工作。在研究所所在的北上市，公共使用的固定RTK-GPS的位置译码误差很容易通过便携式终端获得。因此，在自动扫雪机的轨迹控制和2D虚拟视觉的可视化中，可以不像Shiretoko的无线情况那样麻烦地获得位置解码误差。然而，Shiretoko Pass没有提供便携式终端设施，建立从固定的RTK-GPS发送位置译码误差的方式是需要解决的主要任务。在最新的校核试验中，还阐明了系统对重型机械(电动铲车)回转运动的跟踪特性，明确了用于定向的数字罗盘受重型机械巨大的金属质量的影响，在定向读数中存在微小误差。在未来的发展中，需要在重型机械上安装两个RTK-GPS系统，以获得重型机械的精确定位和精确倾角。4月7日和8日，最新研制的系统被带到芝藤子山口除雪作业现场，并进行了试运行。该系统能够非常准确地显示埋在雪下的道路，并在实际应用中证明了该系统的可行性。在未来的发展中，使系统的一键启动，使不熟悉GPS系统的重型机械操作员可以方便地使用该系统，这是非常重要的。较少