研究者総覧
論文
- タイトル
- タイトル（英）
- Pallet Handling System with an Autonomous Forklift for Outdoor Fields
- 参照URL
- https://researchmap.jp/7000020455/published_papers/40343619
- 著者
- 著者（英）
- Ryosuke Iinuma,Yusuke Kojima,Hiroyuki Onoyama,Takanori Fukao,Shingo Hattori,Yasunori Nonogaki
- 担当区分
- 概要
- 概要（英）
- In Japan, the aging and depopulation of its workforce are issues. Therefore, the development of autonomous agricultural robots is required for saving manpower and labor. In this paper, we described an autonomous pallet handling system for forklift, which can automatically unload and convey pallets for harvesting vegetables outdoors. Because of inserting the forks into a narrow pallet hole, accurate pallet posture estimation and accurate control of a forklift and the forks are required. The system can detect the pallet by deep learning based object detection from an image. Based on the results of object detection and measurement by horizontal 3D light detection and ranging (LiDAR), the system accurately estimates a distance as well as horizontal and vertical deviation between the forklift and the pallet in the outside field. The forklift is controlled by sliding mode control (SMC) which is robust to disturbances. Furthermore, the vertical LiDAR scans the pallet for precisely adjusting the height of the fork. The system requires the environment with no or little preparation for the automation process. We confirmed the effectiveness of the system through an experiment. The experiment is assumed that the forklift unloads the pallet from the vehicle as the real task of agriculture. The experimental results indicated the suitability of the system in real agricultural environments.
- 出版者・発行元
- 出版者・発行元（英）
- FUJI TECHNOLOGY PRESS LTD
- 誌名
- 誌名（英）
- JOURNAL OF ROBOTICS AND MECHATRONICS
- 巻
- 32
- 号
- 5
- 開始ページ
- 1071
- 終了ページ
- 1079
- 出版年月
- 2020年10月
- 査読の有無
- 査読有り
- 招待の有無
- 掲載種別
- 研究論文（学術雑誌）
- ISSN
- 0915-3942
- DOI URL
- https://doi.org/10.20965/jrm.2020.p1071
- 共同研究・競争的資金等の研究課題
研究者
小野山 博之
(オノヤマ ヒロユキ)