AUTONOMOUS WEEDING ROBOT WITH PARALLEL MANIPULATOR

对并联机器人的运动进行了研究，并对其自主导航进行了现场测试。1)对构建为除草机械手的Hexa机器人进行高速搬运试验。利用高速搬运装置的优势，开发了施加惯性力的搬运力的增加。对一种采用并联机构的除草装置进行了行茬跟踪试验。2)提出了一种新的检测土壤皱褶面积的图像分析算法。经过颜色变换和降噪后，通过标记操作选择最大的土壤区域来检测相机需要跟踪的土壤沟槽区域。进行了三维视角变换，得到偏移误差在6cm以内，姿态角误差在1.5°以内。并进行了现场自主导航测试，得到在0.5 m/s速度下的偏移误差在6cm以内。

Movement of a parallel manipulator was examined, and an autonomous navigation in the field was tested.1) A high speed handing test of Hexa robot, which was constucted as a weeding manipulator, was executed. Taking an advantage of a high speed handling apparatus, a development of an increase of a handing force applying a inertia force was performed. Row crop tracking of a weeding apparatus using a parallel mechanism was tested.2) A new image analysis algorithm, which detect the soil frrow area, was developed. After color transformation and noise reduction, to detect the soil furrow area on which the camera should track, the largest soil area was selected using a labeling operation. A three dimensional perspective view transformaion was executed, resultig that the offset error was within 6cm, and the attitude angle error was within 1.5 deg. The autonomous navigation test in the field was also tested, resulting that the offset error was within 6cm at the speed of 0.5 m/s.