1A1-B03 Improving the Ability of Visual and Tactual Recognition of Grape Tree for Robot in Vineyards
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- IGAWA Hisashi
- Hokkaido Univ.
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- TANAKA Takayuki
- Hokkaido Univ.
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- KANEKO Shun'ichi
- Hokkaido Univ.
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- TADA Tatsumi
- Hokkaido Industrial Research Institute
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- SUZUKI Shin'ichi
- Hokkaido Industrial Research Institute
Bibliographic Information
- Other Title
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- 1A1-B03 葡萄園除草ロボットのための葡萄樹の視触覚認識能力の向上
Abstract
Due to the vastness of the vineyards in Hokkaido, it is very hard for its workers to eradicate weeds. In order to solve this problem, we aim to develop a weeding robot with a multi-link manipulator, using a visual sensing technique of stereo camera system for recognizing the trunk of grape. However this technique lacks accuracy because the stereo camera system generally cannot avoid the error in measurement. Considering this, we devised a method which defines the grape-trunk area. Additionally, in order to compensate the visual sensing technique, we used a tactual sensing technique using the multi-link manipulator, which can recognize trunk of grape by touching it. In this paper, we developed a robust sensing system using both visual and tactual recognition for the weeding robot.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (0), _1A1-B03_1-_1A1-B03_4, 2010
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001205934747904
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- NII Article ID
- 110008741109
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed