成果報告書詳細
管理番号20110000001590
タイトル*平成21年度中間年報 戦略的先端ロボット要素技術開発プロジェクト 片付け作業用マニピュレーションRTシステム(サービスロボット分野) 乱雑に積層された洗濯物ハンドリングシステムの研究開発
公開日2011/10/19
報告書年度2009 - 2009
委託先名財団法人四国産業・技術振興センター 国立大学法人香川大学 株式会社プレックス 宝田電産株式会社 香川県産業技術センター
プロジェクト番号P06023
部署名機械システム技術開発部
和文要約和文要約等以下本編抜粋:1.研究開発の内容及び成果等
1.1 背景と目的
リネンサプライ業などで必要となる業務用洗濯ラインの工程は、図1に示すに大きく一括処理される洗濯ラインと単葉処理される仕上げラインから成っているが、その多くの工程が自動化されてきている。 しかし、ラインの入り口である投入作業は、布製品故の不定形のため、未だに自動化出来ていない。
このため、本洗濯物ハンドリングシステムを研究開発する事により、以下の目標を達成する。
(1)システムとしての目標[投入ロボットの導入による洗濯ラインの全自動化]
・ラインの全自動化による作業者の過酷な作業からの解放
・今後の労働力減少による作業者不足への対策
・医療機関、危険作業現場からの危険を内在する洗濯物の無人ハンドリング
(2)技術的目標[布製品のハンドリング技術の確立]
・柔軟な布形状の計測と端点検出可能な視覚技術の確立
・広い動作範囲を持ち力制御が可能なロボットハンドリング技術の開発
・洗濯物の把持、整形を行うための補助システムの整備
英文要約Title : Project for Strategic Development of Advanced Robotics Elemental Technologies, Development of Handling System for Randomly Piled Washed Clothes (FY2006-FY2010) FY2009 Annual Result
1. Purpose of R&D : Laundry lines for linen supply service companies are highly automated by washing machines and automatic handlers. But the setting of the washing clothes to the laundry line requires manual works of operators. The purpose of the research is to construct a fully automated laundry lines to prevent workers from dirty, heavy and dangerous works and develop new robot technology to handle clothes. 2. Phase 1 development ( April,2007-March,2009 ) : From 2007 until 2009, the project has developed experimental cloth handling robot system for pressing and folding lines, as the phase 1 development. To set the clothes to a pressing and folding line, the clothes should be separated one by one, and the two corners of the separated close are settled to the automatic machine. To execute the setting task, the cloth setting process by human operators has been analyzed, and the handling system has been designed. The system consists of 3 kinds of technologies such as 3-D visual sensors, flexible robot hands and robot systems with support systems. (1) 3-D Vision System : Relative stereo vision sensor with pattern light projector has been developed. The 3-D shape extraction algorithms to detect the cloth gripping points have been developed for an overview sensor and a compact vision sensor mounted on a robot hand. (2) Flexible Robot Hand to catch one edge of a cloth. : To handle flexible clothes, an edge grasping hand with sliding two grippers has been developed. Also, to get the high success of detecting and grasping one edge of a cloth, a cloth posture limiting system has been introduced. (3) Robot System : The cloth setting system consists of two robots, an overhead vision sensor, a clothe posture limiting system with a precise vision sensor and a posture adjusting system has been developed. The experimental system has achieved more than 80 percent of successful rate of handling towels. 3. Phase 2 development ( April,2009-March,2011 ) : Based on the experimental system, the project has planned to develop two systems, a compact cloth handling system for a pressing and folding line, and a dirty clothes sorting system. In 2009, to develop these robot systems, following developments have been achieved. (1) 3-D vision system: The brightness of the projector has improved as it can be used under the room lighting condition. (2) Towel mark recognition algorithm: The recognition algorithm of the towel mark with many textures has been developed, and 100% recognition rate has been achieved, experimentally. (3) Force sensor: The force sensor algorithm has been developed to classify the dirty clothes. (4) Flexible hand: A flexible hand has been designed to pick up one edge of a large clothe. (5) Robot systems: The configuration of the two robot systems has been designed.
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