標識認識自律搬送システムの開発(機械力学,計測,自動制御)

This paper presents a horizontal transportation system for construction. Although handling of construction materials at construction sites is expected to be automated for improving productivity, it has been difficult because the environment often changes in the construction field. The system consists of an autonomous vehicle and signs. Signs indicating waypoints and the next command are located in the field as landmarks for transportation path. The autonomous vehicle tracks the sign and recognizes instructions from the symbol on the sign using a SLR (Scan laser radar) and a NIR (Near-infrared) vision system. Consequently it moves or handles materials according to the instruction. The system is adaptable to the changeable environment of the construction site because the transportation path can be easily changed by altering the content or placement of the signs. Experimental results obtained in the outdoor environment show feasibility of the system.