DEVELOPMENT OF A GUIDE DOG ROBOT

我们开发了导盲犬机器人“HITOMI”和一些新的机器人视觉方法。机器人力学：“HITOMI”是1050mm（高）X540mm（宽）X840nn（深），它的底盘是基于铃木的电动轮椅。它有一个带有平台的摄像机，基于68040的单板视觉系统，声纳距离传感器和光纤陀螺仪作为多传感器，V25单板计算机作为运动控制系统，命令栏作为人机界面，40 AH电池作为电源。它可以在平坦的道路上行驶2个小时左右。道路跟踪：机器人可以在70-100ms内检测道路或人行道场景的车道标记或盲文块，移动速度为30cm/秒。车辆检测：提出了一种基于视觉的实时车辆检测方法，并在68040视觉系统上实现。检测时间取决于车辆的距离，30米时为10毫秒，5米时为70毫秒。晴天的检测成功率为92-97%，阴天的检测成功率为98%。几乎所有的错误都是由于误解了影子是一种载体。车辆失踪率在任何天气下都低于1%。行人检测：提出了一种实时行人检测方法“节奏模型”，并在基于4dsp的并行视觉系统上实现。它可以区分行人和其他移动的物体，如自行车和狗。其识别成功率为76-86%。系统还没有安装在机器人上。导览地图系统：用于盲人导览的数字地图系统是ZENRIN的1/ 2000比例尺JYU'UTAKU地图的改进，目前正在开发中。

We have developed a Guide Dog Robot "HITOMI" and some new robot vision methods.1. Robot Mechanics : "HITOMI" is 1050mm(H)X540mm(W)X840nn(D), and its undercarriage is based on SUZUKI's motor wheelchair. It has a video camera with platform, 68040 based one board vision system, sonar range sensors and optical fiber gyroscope as multi-sensors, and V25 single board computer as locomotion control system, an command bar as human interface and 40 AH battery as power supply. It can move about 2 hours on even flat road.2. Road Following : The robot can detect lane mark or Braille block of a road or sidewalk scene in 70-100msec and can move 30cm/sec.3. Vehicle Detection : A vision based real time vehicle detection method is proposed and implemented on 68040 vision system. The detection time is depend on the distance of the vehicle, 10 msec for 30 meters and 70 msec for 5 meters. Its successful detection rate is 92-97% for fine day and 98% for cloudy day. Almost errors are caused by misunderstanding of shadow as a vehicle. Vehicle missing rate is less than 1% in all weather.4. Pedestrian detection : A real time pedestrian detection method "Rhythm model" is proposed and implemented on 4DSPs based paralle vision system. It can distinguish pedestrians from other moving objects such as bicycle and dog.Its successful distinguish rate is 76-86%. The system is not yet installed on the robot.5. Guide Map System : The digital map system for the blind guiding is a improvement of ZENRIN's 1/2,000scale JYU'UTAKU map and is now on development.