Development of Visual Substitute for Blind People

盲人视觉替代品的开发

• 批准号: 09555081
• 负责人: TANAKA Yutaka
• 金额: $ 4.1万
• 依托单位: OKAYAMA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09555081/
• 关键词: Mechatronics; Robotics; Visual Substitute and Equipment; Stereo Camera; Electronic Circuit; Electro-Rheological Fluid; Autonomous Running V.; Medical Technology; 視覚障害者; ERFポンプ; 点字ディスプレイ; 盲導犬ロボット; 歩行補助装置

The results obtained in this research are summarized as follows :(1)We have developed three types of compact real-time range finders which are available to act as the eyes of autonomous running vehicles and intelligent robots as well as blind people. These finders, although being constituted of stereo color CCD cameras and simple electronic circuits, can extract several color and bright regions from a scenery image. As a result, this fact made it possible to recognize successively 3-D information on the object surface. In the measurement, (a) a curved surface is firstly divided into small ones according to the difference in surface color and brightness and (b) the distances to the left- and right-hand-side positions of each surface are measured. It was confirmed that the developed devices are applicable to the surface measurements of planes with folded lines and corner edges and of a circular cylinder.(2)We have developed a Braille display, where several artificial rubber muscles are i … More nstalled and the trial tests have been made on feeding the electro-rheological fluid(ERF) into the muscle for its elongation. In order to make this feeding faster, the dynamic behavior of the ERF in the flow field should be clarified and some feeding method should be developed. In this research we have demonstrated that the response characteristics in the pipe are analyzed on the electric-fluid analogy and produced a pump for feeding the ERF In practice ERF was fed on this driving principle, and a Braille display composed of 8x8 touch points and its controlling device have been developed.(3)As a preliminary stage for manufacturing a guide robot for the blind, we have developed an autonomous running vehicle on which the range finder was mounted. This is equipped with the visual devices which proceed in real time the video signals from stereo color cameras and has the ability of fixing its eyes on color landmarks, recognizing the meanings of the marks and running on the route designated by the colors. The characteristics of this robot is that it has been provided with the functions of recognizing 3-D self positions and of following its master by being equipped with a controlling computer. The other characteristics of this system are that the real time characteristics and an economical system can be achieved even if the computer is uninstalled. Less

主要研究成果如下：(1)研制了三种紧凑型实时测距仪，可作为自主行驶车辆和智能机器人以及盲人的眼睛。这些探测仪虽然由立体彩色CCD摄像机和简单的电路组成，但可以从风景图像中提取多个颜色和明亮的区域。结果，这一事实使得能够连续地识别对象表面上的3-D信息。在测量中，(A)首先根据表面颜色和亮度的不同将曲面划分为小曲面，以及(B)测量每个曲面到左右两侧位置的距离。(2)我们研制了一种盲文显示器，其中几个人造橡胶肌肉是I…对肌内注入电流变液(ERF)进行了延伸性试验。为了使这种加料速度更快，需要弄清电流变液在流场中的动态行为，并开发一些加料方法。在本研究中，我们用电-流体类比的方法分析了管道内的响应特性，并研制了一种用于电流变液输送的泵。在实际应用中，电流变液是基于这一驱动原理进行输送的，并研制了由触点组成的盲文显示器及其控制装置。(3)作为研制盲人导引机器人的前期准备，我们研制了一辆安装了测距仪的自主行驶小车。它配备了视觉装置，实时处理来自立体彩色摄像机的视频信号，并具有眼睛盯着彩色地标，识别标志的含义，并在颜色指定的路线上运行的能力。该机器人的特点是配备了一台控制计算机，具有识别三维自我位置和跟随主人的功能。该系统的另一个特点是即使在卸载计算机的情况下也能实现实时和经济的系统。较少

项目成果

Y.Tanaka, A.Gofuku: "Development and Analysis of an ERF Pressure Control Valve" Int.J.of Mechatronics. 7-4. 317-335 (1997)

Y.Tanaka、A.Gofuku：“ERF 压力控制阀的开发和分析”Int.J.of Mechatronics。

A.Gofuku,Y.Tanaka,I.Nagai: "A Vision-Based Autonomous Running Vehicle to Fix and Recongnize Color Landmarks" Proc.of the 3rd Int.Conf.on Advanced Mechatronics,ICAM'98. 1. 109-114 (1998)

A.Gofuku，Y.Tanaka，I.Nagai：“基于视觉的自主运行车辆来修复和识别颜色地标”Proc.of the 3rd Int.Conf.on Advanced Mechatronics，ICAM98。

Y.Tanaka, A.Gofuku, I.Nagai: "Development of a Compact Video-Rate Range Finder and its Application" Proc.of the 3rd Int.Conf.on Advanced Mechatronics, ICAM'98. 1. 97-102 (1998)

Y.Tanaka、A.Gofuku、I.Nagai：“紧凑型视频速率测距仪的开发及其应用”Proc.of the 3rd Int.Conf.on Advanced Mechatronics，ICAM98。

田中 豊, 五福明夫, 他: "電気粘性効果を利用した流体移送の基礎的研究" 日本機械学会論文集(C編). 64-625. 3450-3456 (1998)

Yutaka Tanaka、Akio Gofuku 等人：“利用电流变效应进行流体传输的基础研究”，日本机械工程师学会汇刊（ed. C） 3450-3456（1998 年）。

Y.Tanaka, Mohamed, Gofuku: "Fusion of Depth Data from two Orthogonal Stereo Pairs" Proc.I.S.on Artificial Intelligence, Robotics and Automation. 19-24 (1997)

Y.Tanaka、Mohamed、Gofuku：“两个正交立体对的深度数据的融合”Proc.I.S.on 人工智能、机器人和自动化。