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Accession number;05A0960569
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| Title;Branches Map Building for Lopping Robot with Branches Detection System |
| Author;
YOKOYAMA TAKURO
(Iwate Prefectural Univ., JPN)
ARAI YOSHIKAZU
(Iwate Prefectural Univ., JPN)
SOGA MASAKAZU
(Iwate Prefectural Univ., JPN)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM)
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Journal Code:L0318B
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ISSN:
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VOL.2005;NO.;PAGE.1P1-N-031(2005)
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| Figure&Table&Reference;FIG.9, REF.2 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;To improve lower applicability of lopping machine for curved trees, it is effcient to minimize cutting mechanisms. Minimized cutting mechanisms have to move actively toward detected branches to keep wide area in which the machine can cut the branches with it. In this paper, branches map building method for lopping robot with branches detection system is proposed. Namely, sensing characteristics of ultrasonic sensor mounted on the lopping robot around surface of a trunk are developed and existence probabilities of branches are modeled based on acquired distance information using the Occupancy Grids. It is shown that an introduction of detection width parameter changes according to a diameter of trunk is important to represent sensing characteristics on curved plane, that is surface of trunk. (author abst.) |
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