成果報告書詳細
管理番号20120000001031
タイトル*平成23年度中間年報 生活支援ロボット実用化プロジェクト 安全技術を導入した搭乗型生活支援ロボットの開発 安全要素部品群と安全設計に基づく搭乗型移動ロボットの開発
公開日2013/4/27
報告書年度2011 - 2011
委託先名アイシン精機株式会社/日本信号株式会社/オプテックス株式会社/株式会社ヴィッツ/学校法人千葉工業大学
プロジェクト番号P09009
部署名技術開発推進部
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) 研究開発の背景と目的
公道を含む公共空間を想定利用シーンとし、搭乗型移動ロボットの生活空間内での安全移動技術の実用化を目指す。搭乗型移動ロボットの生活空間内における許容リスク以下での移動を実現する安全技術の開発及び、その安全技術を実現するための、IEC61508 SIL2 準拠の安全要素モジュール群(3次元レーザー測域センサ、距離画像カメラ、安全無線通信モジュール)を開発する事を目的とする。
英文要約Title: Project for practical applications of service robots, Development of person carrier robot based on safety element modules and safety design process.(FY2011-FY2013) FY2011 Annual Report
(A) Safety moving assistance technology under acceptable risk in a life space: It aims at development of the safety moving assistance technology under acceptable risk in a life space of a boarded type mobile robot. Real-time risk analysis of the moving risk which changes every moment will be established. The calculation technique of "risk diminution velocity" based on the risk analysis will be developed. The initial specification determination, principle mounting, and an evaluation of such technologies were completed in the 2011 fiscal year. (B) Development of Safety Element Module; Laser Range-Image Sensor: (1) Defined the performance specifications conforming to installation environment. (2) Proposition of safety sensor certification system based on the requirement of IEC61496. (3) Prototype production of the safety sensor conforming to the risk assessment result of system and the requirement specifications. (4) Conception examination of essential technologies, devices and system configuration for functional and reliable improvement. (C) Development of Safety Element Module; TOF-Range Image Camera: (1) Specifications proposal from system requirements as Range Image Camera/Sensor: Specifications, Range, Range precision, minimum detectable size and frame rate. The implementation of making samples improved range precision and installation on the test wheelchair. (2) Development of Safety sensor and Proposal of the safety approval method for Safety sensor: Re-design of optics, PCB and embedded software according to the risk assessment and the installation test results. Proposal of the way to type approval on safety sensor based on IEC61496. (D) Development of Safety Element Module; Wireless communication of safety information which is an emergency stop signal etc.:(1) Analysis of wireless communication frame: Specifications research of IEEE802.11b/g and IEEE802.15.4 which are wireless communication system. Research of the mounting method of ZigBee profile. (2) Creation of the safety concept document of safety communication module: investigation of communication menace and measure method which are suggested by IEC61784. Creation of the safety concept document of safety communication module in consideration of architecture design for this system. (3) Creation of specifications of safety communication protocol: Creation of specifications of safety communication protocol in consideration of architecture design for this system. Assessment of whether the specifications of safe communication protocol, created in consideration of failure rate of communication, is safe enough.
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