Development of Visual Substitute for Blind People

盲人视觉替代品的开发

• 批准号: 09555081
• 负责人: TANAKA Yutaka
• 金额: $ 4.1万
• 依托单位: OKAYAMA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09555081/
• 关键词: Mechatronics; Robotics; Visual Substitute and Equipment; Stereo Camera; Electronic Circuit; Electro-Rheological Fluid; Autonomous Running V.; Medical Technology; 視覚障害者; ERFポンプ; 点字ディスプレイ; 盲導犬ロボット; 歩行補助装置

The results obtained in this research are summarized as follows :(1)We have developed three types of compact real-time range finders which are available to act as the eyes of autonomous running vehicles and intelligent robots as well as blind people. These finders, although being constituted of stereo color CCD cameras and simple electronic circuits, can extract several color and bright regions from a scenery image. As a result, this fact made it possible to recognize successively 3-D information on the object surface. In the measurement, (a) a curved surface is firstly divided into small ones according to the difference in surface color and brightness and (b) the distances to the left- and right-hand-side positions of each surface are measured. It was confirmed that the developed devices are applicable to the surface measurements of planes with folded lines and corner edges and of a circular cylinder.(2)We have developed a Braille display, where several artificial rubber muscles are i … More nstalled and the trial tests have been made on feeding the electro-rheological fluid(ERF) into the muscle for its elongation. In order to make this feeding faster, the dynamic behavior of the ERF in the flow field should be clarified and some feeding method should be developed. In this research we have demonstrated that the response characteristics in the pipe are analyzed on the electric-fluid analogy and produced a pump for feeding the ERF In practice ERF was fed on this driving principle, and a Braille display composed of 8x8 touch points and its controlling device have been developed.(3)As a preliminary stage for manufacturing a guide robot for the blind, we have developed an autonomous running vehicle on which the range finder was mounted. This is equipped with the visual devices which proceed in real time the video signals from stereo color cameras and has the ability of fixing its eyes on color landmarks, recognizing the meanings of the marks and running on the route designated by the colors. The characteristics of this robot is that it has been provided with the functions of recognizing 3-D self positions and of following its master by being equipped with a controlling computer. The other characteristics of this system are that the real time characteristics and an economical system can be achieved even if the computer is uninstalled. Less

本研究取得的成果总结如下：（1）我们开发了三种紧凑型实时测距仪，它们可以充当自动行驶车辆、智能机器人以及盲人的眼睛。虽然由立体彩色 CCD 摄像机和简单的电子电路组成，但可以从风景图像中提取多个颜色和明亮的区域，因此可以在测量中成功识别物体表面的 3D 信息。 (a) 曲面首先根据表面颜色和亮度的差异将其分成小部分，并且（b）测量到每个表面的左侧和右侧位置的距离，并证实所开发的设备适用于表面测量。 （2）我们研制了一种盲文显示器，安装了几条人造橡胶肌肉，并进行了电流变液（ERF）的试验测试。 ）进入肌肉为其为了使这种进给速度更快，应该澄清流场中 ERF 的动态行为，并开发一些进给方法，在这项研究中，我们已经证明了在电学上分析了管道中的响应特性。并制作了一个用于给 ERF 供电的泵。在实践中，ERF 就是根据这种驱动原理进行供电的，并且开发了由 8x8 触摸点组成的盲文显示器及其控制装置。（3）作为制造引导机器人的初步阶段盲人，我们有开发了一种安装了测距仪的自动行驶车辆，该车辆配备了视觉设备，可以实时处理来自立体彩色摄像机的视频信号，并且能够将眼睛固定在颜色地标上，识别标记的含义。该机器人的特点是具有识别3D自身位置以及通过配备控制计算机来跟随主人的功能。是实时特性和经济的系统可以即使卸载计算机也能实现更少。

项目成果

Y.Tanaka, A.Gofuku: "Development and Analysis of an ERF Pressure Control Valve" Int.J.of Mechatronics. 7-4. 317-335 (1997)

Y.Tanaka、A.Gofuku：“ERF 压力控制阀的开发和分析”Int.J.of Mechatronics。

A.Gofuku,Y.Tanaka,I.Nagai: "A Vision-Based Autonomous Running Vehicle to Fix and Recongnize Color Landmarks" Proc.of the 3rd Int.Conf.on Advanced Mechatronics,ICAM'98. 1. 109-114 (1998)

A.Gofuku，Y.Tanaka，I.Nagai：“基于视觉的自主运行车辆来修复和识别颜色地标”Proc.of the 3rd Int.Conf.on Advanced Mechatronics，ICAM98。

Y.Tanaka, A.Gofuku, I.Nagai: "Development of a Compact Video-Rate Range Finder and its Application" Proc.of the 3rd Int.Conf.on Advanced Mechatronics, ICAM'98. 1. 97-102 (1998)

Y.Tanaka、A.Gofuku、I.Nagai：“紧凑型视频速率测距仪的开发及其应用”Proc.of the 3rd Int.Conf.on Advanced Mechatronics，ICAM98。

田中 豊, 五福明夫, 他: "電気粘性効果を利用した流体移送の基礎的研究" 日本機械学会論文集(C編). 64-625. 3450-3456 (1998)

Yutaka Tanaka、Akio Gofuku 等人：“利用电流变效应进行流体传输的基础研究”，日本机械工程师学会汇刊（ed. C） 3450-3456（1998 年）。

Y.Tanaka, Mohamed, Gofuku: "Fusion of Depth Data from two Orthogonal Stereo Pairs" Proc.I.S.on Artificial Intelligence, Robotics and Automation. 19-24 (1997)

Y.Tanaka、Mohamed、Gofuku：“两个正交立体对的深度数据的融合”Proc.I.S.on 人工智能、机器人和自动化。