Report of the results of the fiscal 1997 regional consortium R and D project. Regional consortium energy field / R and D of a task adaptation type group architecture transfer robot system, TRIPTERS (first fiscal year).

摘要

The paper stated the fiscal 1997 result of the development of a task adaptation type group architecture transfer robot system (TRIPTERS) which can cope with changes in carrying task rapidly and flexibly. R and D were conducted mainly of various functional modules, the operation management technology which enables group architecture, and the basic design of a standardized transfer robot. As to the positioning, studied were the construction of the basic hardware of laser position measuring device, and the application method. Concerning the cooperative carrying, conducted were securing of positioning accuracy of matters to be carried, high speed heavy transfer control, and design of dead reckoning system. Relating to the operation management, passable areas were divided into more than one zones, and the effective path reservation method was constructed so that one and the same zone is not occupied. As to the environmental recognition/obstacle avoidance, developed were actual hour/distance acquisition equipment, and autonomous cars running according to the directions of the color sign recognition system by stereo CCD camera. Also conducted were the development of methods to recognize the distance to obstacles and to discriminate areas, the development of mobile sensor, and the basic experiment on running of the demonstration machine. 44 refs., 153 figs., 15 tabs.