探索型レスキューロボットのインテリジェント化の研究

Abstract

This paper describes on a first step development of self controlled rescue robot. In recent years, we were suffered from serious disaster caused by earthquakes, so we have to take all possible measure against large earthquakes. Many seismologists say some big earthquakes will occur within next thirty years, and then several active studies of rescue robots are developing now. Generally an operator of robot is required special operating skill, but in the field of disaster it will be difficult to look for a skilled operator. Therefore we are developing self controlled rescue robot works for finding a person under the collapsed building. In this study we intend to give some intelligence to our hand made rescue robot AIT-ReBo.1.As first step of that we achieved self configuration control to continue progressive motion of ReBo.1 when it turns over on its side using G-sensor. TV camera image on console display get from ReBo.1 is waving with progressive motion of it because it makes bending traveling wave on its body for propagation, then we made holding image system by synchronous selection of movie frame with TV camera angle. By the holding image system, we can see arbitrary angle images, and even if ReBo.1 turn over on its side we can see vertical images. Usually, the console operators intend to search sufferer in dark area on the camera images, then we made aerial brightness control imaging system.