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DEVELOPMENT OF A GUIDE DOG ROBOT

Research Project

Project/Area Number 03650343
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 計測・制御工学
Research InstitutionYAMANASHI UNIVERSITY

Principal Investigator

MORI Hideo  Yamanashi University, Dept.of EE & CS,Professor, 工学部, 教授 (40020383)

Co-Investigator(Kenkyū-buntansha) 木塚 泰弘  国立特殊教育総合研究所, 研究部, 部長 (90000265)
KOTANI Shinji  Yamanashi University, Dept.of EE & CS,Assistant, 工学部, 助手 (80242618)
SEKIGUCHI Yoshihiro  Yamanashi University, Dept.of EE & CS,Associate Professor, 工学部, 助教授 (70020493)
KIYOHIRO Noriaki  Yamanashi University, Dept.of EE & CS,Associate Professor, 工学部, 助教授 (00016586)
石黒 浩  山梨大学, 工学部, 助手 (10232282)
Project Period (FY) 1991 – 1993
Project Status Completed (Fiscal Year 1993)
Budget Amount *help
¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1993: ¥300,000 (Direct Cost: ¥300,000)
Fiscal Year 1992: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1991: ¥1,100,000 (Direct Cost: ¥1,100,000)
Keywordsguide dog robot / automonous mobile robot / vehicle detection / pedestrian detection / electronic travel aid / road understanding / robot vision / road following / 道路画像理解 / 歩行支援 / 歩行ガイド / 福祉ロボット / 移動体検出 / リズムモデル / 走行制御 / 画像理解 / ナビゲ-ション / 定型行動
Research Abstract

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.

Report

(4 results)
  • 1993 Annual Research Report   Final Research Report Summary
  • 1992 Annual Research Report
  • 1991 Annual Research Report
  • Research Products

    (34 results)

All Other

All Publications (34 results)

  • [Publications] 森英雄: "道路環境認識とナビゲーション" 計測と制御. 30巻1号. 21-26 (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 森英雄: "画像処理と自律移動ロボット-TVカメラの制約と画像理解の戦略-" 農業機械学会誌. 54巻1号. 97-100 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 森英雄: "盲導犬に代わるロボット" 自動化推進. 21巻2号. 21-31 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 森英雄: "画像処理と自律移動ロボット-自律移動ロボット晴信の開発-" 農業機械学会誌. 54巻2号. 105-114 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 森英雄: "視覚障害者用福祉ロボット" バイオメカニズム学会誌. 17巻2号. 83-88 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Hideo Mori, N.Moghadam Chakari & Takeshi Matushita: ""On line Vehicle and Pedestrian Detections based on Sign Patters"" IEEE Trans.on IA. (in print).

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] H.Mori, S.Kotani & K.Ishii: ""A Guide Dog Robot Project HARUNOBU"" Int'l Conf.on Advanced Robotics. (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] K.Yamaguchi & H.Mori: ""Reat Time Road Image Processing for Mobile Robot-White Lane Mark and Zebra Crossing Mark Detection-"" Proc.of Int'l Cinf.on Advanced Mechatronics.360-364 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] K.Nishikawa & H.Mori: ""Rotation Control and Motion Estimation of Camera for Road Following"" Proc.of IROS'93. 1313-1318 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] N.M.Chakari & H.Mori: ""A New Approach for Real Time Moving Vehicle Detection"" Proc.of IROS'93. 273-278 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] H.Mori & S.Kotani: ""Recent Progress in Mobile Robot Harunobu (2)"" Proc.of Intelligent Vehicle'93. 169-176 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] H.Mori & N.M.Chakari: ""Shadow and Rhythm as Sign Patterns of Obstacle Detection" IEEE Int'l Symposium on Industrial Electronics. 271-277 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] H.Ishiguro, K.Nishikawa & H.Mori: ""Mobile Robot Navigation by Visual Sign Patterns Existing in Outdoor Environment"" Proc.of IROS'92. 636-641 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] H.Mori: ""Guide Dog Robot harunobu-5 -Stereotyped Motion and Navigation-"" (G.Schmidt ed.) Information Processing in Autonomous Mobile Robots, Springer-Verlag. 135-149 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] H.Mori: "Recent progress in mobile robot Harunobu-4" in (I.Masaki ed.) Vision-based Vehicle Guidance. Springer-Verlag, 204-221 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 森英雄: "道路環境認識とナビゲーション" 計測と制御. 30巻1号. 21-26 (1991)

    • Related Report
      1993 Annual Research Report
  • [Publications] 森英雄: "画像処理と自律移動ロボット-TVカメラの制約と画像理解の戦略-" 農業機械学会誌. 54巻1号. 97-100 (1992)

    • Related Report
      1993 Annual Research Report
  • [Publications] 森英雄: "盲導犬に代わるロボット" 自動化推進. 21巻2号. 21-31 (1992)

    • Related Report
      1993 Annual Research Report
  • [Publications] 森英雄: "画像処理と自律移動ロボット-自律移動ロボット晴信の開発-" 農業機械学会誌. 54巻2号. 105-114 (1992)

    • Related Report
      1993 Annual Research Report
  • [Publications] 森英雄: "視覚障害者用福祉ロボット" バイオメカニズム学会誌. 17巻2号. 83-88 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 森 英雄: "道路環境認識とナビゲーション" 計測と制御. 30. 21-26 (1991)

    • Related Report
      1992 Annual Research Report
  • [Publications] 森 英雄: "盲導犬に代わるロボット" 自動化推進. 21. (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 森 英雄: "視覚障害者用福祉ロボット" バイオメカニズム学会誌. 17. (1993)

    • Related Report
      1992 Annual Research Report
  • [Publications] 小谷 信司、安富 敏、西川 和弘、山口 健一、森 英雄: "盲導犬ロボットの開発(第3報)" 第18回感覚代行シンポジウム. 22-25 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 西川 和弘、森 英雄: "視覚移動ロボットのコーナー移動" 日本ロボット学会学術講演会予稿集. 551-552 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 山口 健一 森 英雄: "高速画像処理ボードによる道路画像の処理" 日本ロボット学会学術講演会予稿集. 179-180 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] H.Mori: "Recent progress in mobile robot Harunobu-4,in(I.Masaki ed.)Vision‐based Vehicle Guidance" Springer-Verlag, 18 (1991)

    • Related Report
      1992 Annual Research Report
  • [Publications] 森 英雄: "画像処理と自律移動ロボットーTVカメラの制約と画像理解の戦略ー" 農業機械学会誌. 54巻1号. 97-100 (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 森 英雄: "自律移動ロボット晴信の開発" 農業機械学会誌. 54巻2号. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] Hideo Mori: "A Guide Dog Robot Harunobuー5ーFollowing a Personー" Proc.of IROS'91. 397-402 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] 西川 和弘: "HOUGH変換によるサインパタ-ンの選択と追跡" 第9回日本ロボット学会学術講演会予稿集. 853-854 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] 山本 芳彦: "路面の傾斜の影響を受けない走行制御" 第9回日本ロボット学会学術講演会予稿集. 911-912 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] Nasrolah M: "Color Correction by Standard Color Chart and Shadow Processing" 第9回日本ロボット学会学術講演会予稿集. 855-858 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] G.Schmiat(et.)Hideo Mori: "Information Processing in Antonomous Mobile Robots,Guide Dog Robot Harunobuー5ーStereotyped Motion and Navigation" SpringerーVerlag, 15 (1991)

    • Related Report
      1991 Annual Research Report

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Published: 1991-04-01   Modified: 2016-04-21  

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