A new face

I've developed a forward  obstacle detection system of my prototype robot.
When there are obstacles that can not be over in the range of 30cm front, my robot avoid the obstacles.

ロボットの前面に、障害回避の機能を設置しました。
ロボットの前、３０ｃｍ程度に存在する、乗り越えられない障害物を回避します。


Agricultural robot will be operated  in outdoor such as 'farm' and  'greenhouse'. Therefore, it is more complex than the robot to work indoors. It require dustproof, waterproof,,,. However, the production cost is $ 2,000. It is a very difficult challenge.
I developed a 1/2 scale prototype robot , and  I'm testing the robot function.
There are many improvements and issues.  (~.~), foo
I have to resolve and advance step by step.

農業ロボットは、農場やハウスなどの野外で運用されます。室内で活動するロボットより複雑です。
例えば、防塵、防滴などが必要になります。それも、2000ドルで開発しなければなりません。難しい挑戦です。1/2スケールの試作機を作りながら、プログラムなどの最終チェックをしています。

I didn't describe how to recognize tomatoes, because it's a new method.
I will explain, when  the test of  recognizing tomatoes will finish.

トマトの認識技術については、これまで書きませんでした。
従来のように、画像処理を中心にした認識技術では有りません。テストが終わった時に説明します。

peace!

Nexus 7 broken! (-.-)...

Today Suddenly,  Nexus 7 don't boot.
Google service said "It's initial failure."
Over one week, I can't develop a image processing software on Nexus 7.
It's shocked.

我慢

A new robot on 4 legs. (prototype)

Now, I'm developing a 4 legs robot. The pictures are a prototype 4 legs robot.
The prototype robot is half size model.
４本脚ロボットを開発しています。写真は、そのプロトタイプです。

30cm ruler in lower side

I grow organic tomatoes in the greenhouse.  And in the greenhouse, an aisle is narrow (40cm) and uneven ground.

 There are several robot moving methods  that are wheels, caterpillar, 4 legs and others. I have considered  which is the best moving method in the 'farm' and 'greenhouse'.
I decided to develop a 4 legs robot, first of all.

私は、化学農薬などを使わないオーガニック　トマトを農業ハウスで栽培しています。
ハウス内は、通路も狭く、また平ではありません。

ロボットの移動方法には、車輪、キャタピラー、４本脚、それ以外の方法もあります。
最初に、４本脚のロボットを作る事に決めました。


The selection points are below:
(1) A function of holding on the level ( a height level requirement )
My forming robot have to move on the application which are an actuator, pruner machine,,,
Therefore a robot need to hold these applications on the level in order to exercise their capacities.
A wheel and caterpillar machin are difficult to hold on the level.
But 4 legs moving system is easy to realize  my height level requirement, nothing any other parts.
I'm going to research and to develop for putting into practical use.


peace!

I'm a farmer. (o^_^o)...

It's my tractor.

It's 20 horsepower.

Back of the tractor, greenhouse of tomatos harvesting. My tomatos are organic productions.
Next year, robot will work in greenhouse of tomatos harvesting. 

peace!

What's ?

A robot in process of creation.

Please wait till it complete.

(^_^)v

Performance testing Xtion on Raspberry PiUsing a capturing server

Raspberry Pi is a good machine. But it don't have a capacity for 3D processing.  For this test, I use a Raspberry Pi as a capturing service (server).  And MacMini is 3D Processing service and viewing.
My test environment diagram is below.

Raspberry Piは、３D処理をするには性能がたりません。従って、Xtionを使ったcaputuring setverとして使い、空間認識などの処理をMacminiで処理します。そのテストをしました。
テストは、RDCS環境を使いまいた。RDCSは、分散コンピューティングをベースにしたロボットプラットフォームです。その機能を使ってテストをしました。
Micminiでpoint cloud処理をしています。さすがに瞬間的な処理です。


 Capturing Service        3D recognizing service
　　　Xtion
    Raspberry Pi                Mac MIni
----------------------------------------------------　 Coordinator　Layer
----------------------------------------------------　(Service Control)
             |                                |
----------------------------------------------------      Cooperative　Layer
---------------------------------------------------- (Communication Control)

A performance testing was executed on RDCS.

RDCS is a robot platform based on a distributed computing model.
A lots of robot function (hardware, software) is connected by  "Cooperative Control" and "Coordinator".
"Cooperative Control" is a network communication control.  The control  connects computer , actuator, sensor and other robot device.
"Coordinator" offers robot required software. "Coordinator" integrates a lot robot software on RDCS.

This test flow is :

(1) 3D recognized service requests a data set ( image and depth ) to Capturing service.
(2) Capturing service on Raspberry Pi execute to capture image and depth.
(3) 3D recognized service receive a couple of capturing data.
(4) 3D processing and viewing

RESULT (sec)
(1)      0-1
(2)     8-10 (include the time which is Xtion initialize and terminate)
                   A Capture time is 1-2 sec.
(3)      0-1
(4)      0-1


This result means that a single robot don't have all function in it.
Therefore, it's able to develop a lightweight and low cost robot.
There are a lot of kinds wrok in farm. And my farm is large. Thus I need  a lot of robot. To do that,  I have to develop a low cost and multi-function robot.
My robots are structured by base robot and add-in function in order to realize a multi-function of robot.
And these robots have to been set up by commercialized product and builded  by component-based.

Now I'm developing a core component of robot  using 2 or ３ Raspberry Pi.
A core component of robot is structured by  6 components which are robot platform(RDCS), space recognition, obstacle detection, moving, fail-safe and recovery.
An effectivity of RDCS which I have developed was  confirmed by this testing.


この結果は、1台のロボットに全ての機能を集約しなくても良い事を示しています。
従って、軽量なかつ低価格のロボットを作る事ができます。
ロボットプラットフォーム、障害物検知、通信、移動、フェイルセーフと回復機能を持ったシンプルなロボットを、Raspberry Piを２、３個使って作れば良いと思います。その上に、アクチュエータなどのロボットのパーツを載せればよのではないでしょうか？
私の開発している、RDCSのアーキテクチャーの有効性を確認できました。

                                                     3D point cloud

Peace!

Nexus7

I got a "Nexus 7" which new android machine produced by google.

I'll use a brain of my robot.