DEVELOPMENT OF AUTONOMOUS VEHICLE FOR AGRICULTURAL ROBOT

本研究为农用车辆及机器人自主行走系统之开发。本研究主要完成了以下几个方面的工作：1）基于图像处理的自主车辆跟随系统的开发本研究旨在开发基于图像处理的自动跟随引导车辆的车辆。本研究的目的是由两个以上的农业车辆合作农业作业，如饲料收获。我们测试了带摄像机的自动驾驶汽车沿着直线、变道路径和正弦波跟踪引导车辆。2）窄路用农用车的开发这是农用车在犁沟等窄路上行驶的开发。该车辆安装了压电陀螺仪和雷达速度传感器作为内部传感器，在农场中自动行驶。我们通过使用内部传感器来检测直线运动。结果，具有内部传感器的车辆的自主行驶是可能的。在车辆沿沿着20 m直线行驶的情况下，目标点与停止点的位置误差为1.2 m。3）机械手在车辆上的定位控制这是为了控制机械手在车辆末端的位置。农业机器人在行走状态下进行农业作业是其重要的研究内容。但由于犁体运动轨迹的粗糙度等原因，机械手的位置控制比较困难，因此，本文提出了一种利用角度计对犁体运动进行控制的方法。在实验中，机械手安装在振动器上，沿沿着振动，控制定位在目标点。结果表明，该方法能有效地补偿机械手和测角仪的延迟时间。

This study is the development of autonomous traveling system for agricultural vehicle and robot. The following were done this year.1) Development of autonomous vehicle following system using the image processingThis study is to develop the vehicle which follows the guiding vehicle automatically using the image processing. The purpose of this study is cooperative farming operation by more than two agricultural vehicless, such as forage harvesting. We examined to follow the guiding vehicle along the straight line, the lane change path and the sinusoidal wave by the autonomous vehicle with a video camera. Its accuracy seemed enough for agricultural use.2) Development of agricultural vehicle for narrow pathThis is the development of the agricultural vehicle to travel the narrow path such as furrow. This vehicle was installed a piezo-gyroscope and a radar velocity sensor as the internal sensor to travel automatically in the farm. We examined to travel the straight line by using of the internal sensor. As the result, the autonomous traveling of the vehicle with the internal sensor was possible. In the case that the vehicle went along the straight line of the distance 20m, the position error between the target point and the stop point was 1.2m.3) Positioning control of manipulator on the vehicleThis is to control the position at the end of manipulator on the vehicle. It is important for the agricultural robot to do farming operation with the robot traveling. But it is difficult to control the position of manipulator due to the roughness of the path and so on. Therefore, we presented the control method using an angle meter for the plow equipment. In the experiment, the manipulator installed on the vibrator, which vibrated along the sinusoidal wave, was controlled to position at the target point. As the result, it was effective to compensate for the delay time of manipulator and angle meter.