葡萄園除草ロボットのための葡萄樹の視覚認識能力を考慮したロバスト触覚認識

概要

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Due to vastness of vineyards in Hokkaido, it is very hard for their workers to eradicate weeds. In order to solve this problem, a weeding robot development with a multi-link manipulator using a visual sensing technique of stereo camera system for recognizing grape trunk is aimed in this research. However this technique lacks accuracy because the stereo camera system generally cannot avoid the error in measurement. Considering this problem, a method which define grape-trunk area was devised. Additionally, in order to compensate the visual sensing technique, a tactile sensing technique using the multi-link manipulator was used, which can recognize a grape trunk by touching it. In this paper, a robust sensingsystemusing both visual and tactile recognition for the weeding robot was developed.