Development of Pilot Assistance System with Stereo Vision for Robot Manipulation

摘要

In this research, we developed two kinds of pilot assistance systems for T-52 and T-53 working in a disaster district. One is an interface that provides the information from several sensors efficiently for the pilot. Another is an interface that tracks and displays the distances of the points that are set by the pilot. This system can tell the pilot the distance by the change in the color that understands intuitively easily, and the processing speed is also fast enough. The pilot switches the two kinds of proposed interfaces according to the situation. The former is suitable for searching of a target object by the camera installed in the robot arm, and the latter is suitable for the operation that grasps a specific position of the target object by the arm. Then, the basic experiments for the construction of each system were conducted, and the effectiveness of them was confirmed. From now on, a further various tests and examinations will be necessary to use of these system and interface efficiently in the disaster scene. Moreover, more interface development research according to disaster scene to achieve the many kinds of work by the rescue robot will be necessary. We are continuing the research for the solution of these research topics now, furthermore have started the development for automatic work system of the robots.