| Project/Area Number |
15560213
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Yamagata University |
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Principal Investigator |
MITOBE Kazuhisa Yamagata University, Mechanical systems engineering, Professor, 工学部, 教授 (50229754)
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| Co-Investigator(Kenkyū-buntansha) |
YAMANO Mitsuhiro Yamagata University, Mechanical systems engineering, Research Associate, 理学部, 助手 (70323178)
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| Project Period (FY) |
2003 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥3,000,000 (Direct Cost: ¥3,000,000)
Fiscal Year 2005: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 2004: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 2003: ¥1,900,000 (Direct Cost: ¥1,900,000)
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| Keywords | autonomous robots / snow removing robot / outdoor robot |
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| Research Abstract |
A prototype autonomous snow removing robot is developed. We proposed a new snow sweeping mechanism, combining three screw feeders, with which the snow is compressed into the body of the robot. The mechanism is mounted on the mobile unit consist of two pairs of chain crawlers and sprockets.
Performance of the robot when removing the snow is investigated experimentally. Rotational speed of the screw unit and the moving velocity of the robot must be controlled cooperatively in response to the condition of snow density and amount of the snow cover. First we investigated the slipping velocity of the crawler with respect to the snow ground under the reaction forces caused by the snow sweeping unit. Then we investigated the resistance force due to the screw when sweeping the snow by measuring the motor current of the screw unit. Relation among the rotational speed of the screw, feed rate of the snow and the slipping velocity are related experimentally. Based on the obtained results, moving velocity of the robot and the rotation speed of the screw can be controlled maintaining a smooth flow of the snow.
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