人間協調型農業用ロボットの外界センシングシステム　第１報　　レーザ距離計を用いた検出基礎実験

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タイトル別名
  • External Sensing System for Human Cooperative Agricultural Robots. Part 1. Sensing System using Laser Scanner.
  • ニンゲン キョウチョウガタ ノウギョウヨウ ロボット ノ ガイカイ センシング システム 1 レーザ キョリケイ オ モチイタ ケンシュツ キソ ジッケン
  • Sensing System using Laser Scanner
  • レーザ距離計を用いた検出基礎実験

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In the future, robots will be able to do many kinds of agricultural operations. However, it is difficult to consider that robots automatically perform all kinds of operations instead of human because of the complexity of agricultural operations. In other words, robots will be engaged in agriculture with human in the future. Therefore, it is considered that human cooperative agricultural robot systems are required.<BR>An essential element for a human cooperative robot is a sensing system which can detect the circumstances around a robot so that the robot can carry out its task safely and efficiently.<BR>Final goal of this research is to develop an external sensing system for human cooperative agricultural robots. In this paper, a sensing system consisted of a laser scanner and infrared sensors was manufactured and tested. The laser scanner was mounted on a lift moved up and down at a distance of 300 mm to capture a three-dimensional distance data. The infrared sensors were used to detect the existence of human.<BR>From the experimental results, not only the distance to an object but also the shape of the object was detected by moving the laser scanner up and down. The human motions including location, speed and direction were detected based on the information obtained from the laser scanner and the infrared sensors.

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