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

在这项研究中获得的结果总结如下：（1）我们开发了三种类型的紧凑型实时范围发现器，可以用作自动运行车辆和智能机器人以及盲人的眼光。这些发现器虽然由立体颜色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几种颜色和明亮的区域。结果，这一事实使能够在对象表面上成功识别3-D信息。在测量中，（a）首先根据表面颜色和亮度的差异将弯曲的表面分为小，（b）测量每个表面的左侧和右侧位置的距离。据证实，开发的设备适用于具有折叠线和角边缘和圆形圆柱体的平面的表面测量。（2）我们已经开发了盲文显示器，在那里，我有几个人造橡胶肌肉……更贴心，并且在将电rheologologological（ERF）送入肌肉的情况下进行了试验测试，并进行了试验测试。为了使这种进食速度更快，应将ERF在流场中的动态行为进行刻板，并应开发出一些喂养方法。在这项研究中，我们证明了管道中的响应特征在电 - 流体类比中进行了分析，并生产了一个泵，用于在实践中喂食ERF的ERF，并以该驾驶原则为食，并开发了由8x8触点及其控制装置组成的8x8接触点及其控制阶段的盲文显示器。这配备了视觉设备，这些设备可以实时进行视频信号，并具有将目光固定在颜色地标上，识别标记的含义并在颜色指定的路线上运行的能力。该机器人的特征在于，它具有识别3-D自我位置并通过配备控制计算机来识别其主位置的功能。该系统的其他特征是，即使计算机被卸载，也可以实现实时特征和经济系统。较少的

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。