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Development of Pruning Robot flexible for uneven surface of tree

针对树木表面凹凸不平的灵活修剪机器人的研制

基本信息

批准号：
16380107
负责人：
ARAI Yoshikazu
金额：
$ 8.9万
依托单位：
Iwate Prefectural University
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 2006
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-16380107/
关键词：
Pruning Robot Forestry machine Going up down tree Cutting Machine Motion Planning Measurement of Branch Detection of Branch 螺旋昇降枝マップ構築分散センシング占有グリッド枝切断機構

项目摘要

In this research, we aim to develop a pruning robot capable of pruning even for gradually curving or uneven tree without damages by downsizing a cutting machine. Because an area in which branches can be cut will lessen, it becomes necessary to prune actively by moving the small cutting machine. For this purpose, following developments are conducted.1.Mobile platformFour mobile platforms capable of going up/down tree spirally are made experimentally. As a result, stable climbing is carried out.2.Mesurement systemsA distance measurement system and a diameter measurement system are developed as systems for detecting branches and recognizing their positions. The distance measurement system measures distances between a robot set up from a root and branches. The diameter measurement system measures diameter ; of tree on height in which the robot set up.3.System for recognizing branches' positionThis system estimates positions of detected branches based on the Occupancy Grid model using information from the measurement systems. We revealed characteristics for measurements on a surface like a tree and proposed a model specified for a branch detection. Moreover we proposed a method for compressing a map and a method for compensating sensor positions intending use in actual forest environments.4.Cutting unitTo select small cutting mechines, a comparison of cutting characteristics between some ones is conducted. Moreover resistances on pruning of the small cutting mechines are measured. As a result, a roughing endmill is found as one by which stable pruning are carried out with the least power.5.Motion planning of cutting machineWe categorized branches into branches whose positions are recognized and branches which cannot be detected due to occlusion by former ones. Motion planning algorithms for these categories of branches are proposed to carry out active pruning using the cutting unit respectively.

在这项研究中，我们的目标是开发一种修剪机器人，通过缩小切割机的尺寸，即使是逐渐弯曲或凹凸不平的树木也能进行修剪，而不会造成损害。由于可以修剪的枝条面积会变小，因此有必要通过移动小剪枝机来积极修剪。为此，进行了以下几方面的工作：1.移动平台实验制作了4个可螺旋上下树的移动平台。2.测量系统研制了距离测量系统和直径测量系统，用于检测树枝和识别树枝的位置。距离测量系统测量从树根建立的机器人和树枝之间的距离。直径测量系统测量机器人设置在其中的树的高度上的直径。3.识别树枝位置的系统该系统使用来自测量系统的信息，基于占用网格模型来估计检测到的树枝的位置。我们揭示了在像树这样的表面上测量的特征，并提出了一个指定用于树枝检测的模型。此外，我们还提出了一种压缩地图的方法和一种用于实际森林环境的传感器位置补偿方法。4.切割单元为了选择小型切割机械，比较了几种切割机械的切割特性。此外，还测量了小型切割机的修剪阻力。5.切割机的运动规划我们将树枝分为位置可识别的树枝和因遮挡而无法检测到的树枝。针对这两类枝条，分别提出了利用剪枝单元进行主动剪枝的运动规划算法。