ICS-02B-812 255
... 4 Abstract... 4 1... 5 1.1... 5 1.2... 6 1.3... 7 2... 8 2.1... 8 2.2... 10 2.3...11 2.4... 13 2.5 2... 14 3... 16 3.1... 16 3.2... 17 4 2... 20 4.1... 20 4.2... 24 4.3... 27 4.4... 29 5... 30 5.1... 30 5.2... 30... 31... 32 2
1... 7 2... 8 3... 9 4... 9 5... 9 6... 10 7 OEM kit...11 8 OEM kit... 12 9... 13 10 2... 15 11 2... 15 12 DC-DC... 17 13 D-SUB 9Pin... 18 14... 18 15... 18 16 D-SUB 25Pin... 19 17 NOT... 19 18... 20 19... 21 20... 22 21... 23 22... 24 23... 25 24... 25 25... 26 26... 27 27... 28 28... 29 3
2 2 2 Abstract It aims at supplying assistance to the mobility for bodily inconvenient people who feel it difficult and impossible to operate the wheelchair with which the conventional power was supplied. By the ability carrying out independence movement of the electric wheelchair to some extent, a possibility that those who cannot control an electric wheelchair, either can also go out freely can be found out. An ultrasonic sensor is major because of the environmental recognition in research of many wheelchairs. However, in this research, recognition of the circumference environment by the combination, a light sensor and an ultrasonic sensor, of two sets is proposed. The feature is that the environmental recognition superior to the environmental recognition conventional by combining two sets of sensors is attained. In this paper, the manipulator asked for a possibility that it can move with a wheelchair safely, by recognizing circumference environment of the external world. The contents of a paper are having experimented about the hardware in this research, the feature of two sets of a software design and sensors, and recognition of circumference environment. 4
1 1.1 [1][2] 2 2 5
1.2 2 6
1.3 2 1 7
2 2.1 PB9-01 2 LED =870nm 91 162 RS232C 2 8
7 3 4 3 3 PB9-01 DC 18V 33V 10 250mA 1.0m 3.0m 30 80% 300mm 6dB 160msec 360msec 1m 50mm 2m 80mm 3m 110mm 4 5 9
2.2 1 91 162 6 10
2.3 Polaroid Ultrasonic Ranging System OEM kit 7 OEM kit 7000Transducer 6500Rangingboard DC6V 2.5amps INIT 2.1V 16 0.5ms 2.38ms Internal Blanking Interval 6500Rangingboard ECHO [4] ( 340 0. t) time L = 6 11
OEM kit 7000Transducer 6500Rangingboard DC 4.5V 6.8V 2.5amps INIT High-DC 2.1V Low-DC 0.0V ECHO High-DC 5.5V Low-DC 0.4V 0.5ft 35ft 15 10.6m Internal Blanking Interval 2.38ms Recycle Period 80ms 49.4Khz 8 OEM kit 12
2.4 3 L T 9 13
8 2.5 2 162 2 2 360 4 14
3m 91 162 500g 160ms =870nm 15 10.6m 80ms 10 2 11 2 15
3 3.1 PC Windows98me / Pentium 750MHz SUZUKI MC3000S Polaroid OEM kit 7000Transducer 6500Rangingboard PB9-01 RS232C CONTEC USB RS232C COM4(USB) KENWOOD PS36-10 16
3.2 DC-DC RS232C NOT 74HC04AP DC DC-DC 12 DC DC-DC AC DC AC DC V V 17
13 D-SUB SUB 9Pin 9Pin-D-SUB RXD TXD 3 TXD 2 RXD GND 5 GND 14 GND STX 0 EOT STX 0 EOT STX EOT 0 02h 04h 30h 4 16 91 15 18
I/O NOT O STROBE IO -D0 IO- D1 IO- D2 IO- D3 IO- D4 IO-D5 IO-D6 IO-D7 ACK BUSY PE SLCT AUTO_FD ERROR INIT SLCT GND 16 D-SUB SUB 25Pin 17 NOT INIT 2.1V ECHO 6.8V I/O ECHO ON/OFF [5][6] INIT 2.1V 2DC.1V NOT 74HC04AP I/O [3] DC6V DC6V 19
4 2 4.1 0.3m 0.3m 4.2m 30 測距距離 (m) 白い障害異物の検出 5 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 1 4 7 10 13 16 19 測距回数 22 25 28 0.3m 0.6m 0.9m 1.2m 1.5m 1.8m 2.1m 2.4m 2.7m 3.0m 3.3m 3.6m 3.9m 4.2m 18 0.3m 20
3% 4.2 30 測距距離 (m) 黒い障害物 ( 光沢無し ) の検出 5 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 測距回数 0.3m 0.6m 0.9m 1.2m 1.5m 1.8m 2.1m 2.4m 2.7m 3.0m 3.3m 3.6m 3.9m 4.2m 19 3% 0.3m 16% 21
30 測距距離 (m) 黒い障害物 ( 光沢あり ) の検出 6 5 4 3 2 1 0 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 測距回数 0.3m 0.6m 0.9m 1.2m 1.5m 1.8m 2.1m 2.4m 2.7n 3.0m 3.3m 3.6m 3.9m 4.2m 20 30 10 30 33% 22
23 30 30 30 30 透明な障害物の検出 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 1 4 7 10 13 16 19 22 25 28 測距回数測距距離 (m) 0.3m 0.6m 0.9m 1.2m 1.5m 1.8m 2.1m 2.4m 2.7m 3.0m 3.3m 3.6m 3.9m 4.2m 21 21 21 21
4.2 誤り値 (m) 0.4 0.35 0.3 0.25 0.2 0.15 0.1 0.05 0 誤りの平均値と最大値 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3 3.3 3.6 3.9 4.2 測距距離 (m) 誤り平均値誤り最大値 22 1.2m 0.05m 1.5 3m 0.1m 3.3m 0.4m 3m 0.1m 3m 3m 0.2m 0.2m 3m 24
誤り値 (m) 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 誤りの平均値と最大値 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3 3.3 3.6 3.9 4.2 測距距離 (m) 誤り平均値誤り最大値 23 誤り値 (m) 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 誤りの平均値と最大値 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3 3.3 3.6 3.9 4.2 測距距離 (m) 誤り平均値誤り最大値 24 25
誤り値 (m) 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 誤りの平均値と最大値 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3 3.3 3.6 3.9 4.2 測距距離 (m) 誤り平均値誤り最大値 25 ERROR 2.1m 0.05 0.1m 30 2 5 ERROR ERROR 0.1 0.2m 1m ERROR 1.2m 0.3m ERROR 26
4.3 0.5m 0.75m 1.0m 1.25m 1.5m 22.0m 100 ERROR -1 0.15m 0.4m ERROR 0.4m 10.6m 測距距離 (m) 2.5 超音波センサ測距データ 2 1.5 1 0.5 0.5m 0.75m 1.0m 1.25m 1.5m 2.0m 0 1 10 19 28 37 46 55 64 73 82 91 100 測距回数 26 27
0.5m ERROR 測距距離 (m) 2 斜めの障害物の検出 1.5 1 0.5 0-0.5-1 -1.5 1 10 19 28 37 46 55 64 73 82 91 100 測距回数 0.5m 27 28
4.4 測距距離 (m) 0.25 各距離における誤り値 0.2 0.15 0.1 0.05 0.5m 0.75m 1.0m 1.25m 1.5m 2.0m 0 1 10 19 28 37 46 55 64 73 82 91 100 測距回数 28 0.5m 2.0m 1.5m 0.2m ECHO 0.03m ERROR ERROR 2 2 29
5 5.1 2 2 2 4 360 5.2 OEM kit 30
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[1] G.BOURHIS, O.HORN, O.HABERT, and A.PRUSKI : An Autonomous Vehicle for People with Motor Disabilities [2] AXEL LANKENAU and THOMAS ROFER : A Versatile and Safe Mobility Assistant [3] CQ IC [4] ULTRASONIC RANGING SYSTEM [5] Linux I/O mini-howto http://www.linux.or.jp/jf/jfdocs/io-port-programming/ [6] PC http://www.astr.tohoku.ac.jp/~akitaya/research/lipsccd/rep/rep0101a.html 32