| Co-Investigator(Kenkyū-buntansha) |
KUMAGAMI Hiroshi Kitami Inst.of Tech., Mechanical Eng., Associate Professor, 工学部, 助教授 (40205167)
SUZUKI Soichiro Kitami Inst.of Tech., Electrical and Electronic Eng., Associate Professor, 工学部, 助教授 (30250541)
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| Budget Amount *help |
¥11,300,000 (Direct Cost: ¥11,300,000)
Fiscal Year 2005: ¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2004: ¥8,000,000 (Direct Cost: ¥8,000,000)
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| Research Abstract |
In order to provide safety in the snow removal operation with heavy machine at the site of over 7m of snow accumulation in the Shiretoko pass which go through the word heritage registered Shiretoko peninsula, 3D virtual vision system by means of high precision RTK-GPS was developed. In the fiscal year of 2004, a prototype of the system was made. Before snow fall of the year, geometrical data around the Shiretoko pass were taken by RTK-GPS, and test operations were conducted at the same site on the April of 2005. In the region of data density approximately 1 data per square meter, present location of the system was shown on the virtual image in good accuracy. However in the region of coarse data density, present location was not shown correctly. After that, in the fiscal year of 2005, the quality of 3D visualization of the virtual vision system and usability were improved. Also, before the snow fall, fine geometrical data around the Shiretoko pass were taken and the test operations were
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conducted again. This time, the test operations shown good results in the approximately 1Km span of the test region. However, since the position decode error at the fix RTK-GPS is sent to the mobile RTK-GPS aboard the heavy machine by wireless, the system did not work correctly at the hiding region behind hill beyond a curve. In Kitami city, where our institute is located, the position decode error at the fixed RTK-GPS in public use is easily obtained by a portable terminal. Therefore, in the trajectory control of the automatic snowplow and visualization of 2D virtual vision, the position decode error can be obtained with out trouble like the case of wireless in Shiretoko. However, the portable terminal facility is not available in Shiretoko pass, and establishment of the way of sending position decode error from the fixed RTK-GPS is major task to be solved. Up to date in the proof tests, follow up characteristics of the system to rotating motion of the heavy machine (Power shovel) is also clarified, and it became clear that the digital compass for sensing the orientation is affected by the huge metallic mass of the heavy machine and gives slight error in the orientation reading. In the future development, two RTK-GPS system should be mounted on the heavy machine to obtain not only precise orientation but also precise inclination of the heavy machine. On April 7th and 8th, the latest developed system was brought to the site of snow removal operation in Shiretoko pass, and test operations were conducted. The system was able to show the road buried under the snow very precisely, and the system is proofed to be capable in practical use. In the future development, it is very important to make the boot up of the system by one push of button so that the heavy machine operator unfamiliar with the GPS system can use the system easily. Less
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