成果報告書詳細
管理番号20160000000571
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 (革新的ロボット要素技術分野)自律型ヒューマノイドロボット 広角・多波長レーザレーダーによる超高感度コグニティブ視覚システム
公開日2016/7/27
報告書年度2015 - 2015
委託先名国立研究開発法人産業技術総合研究所 学校法人慶應義塾 株式会社ジェネシス
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title: Supersensitive cognitive vision system by using wide-angle multi-wavelength Laser Radar
(FY2015-2016) FY2015 Annual Report
        
(1) High-speed beam steering devise for Laser Radar
We have proposed a novel wide-angle optical beam steering device. It has the piled structure together
with liquid crystal (LC) panels and polarization gratings. One of the most important features for the robot
eyes is the steering speed. The target speed is about 10μs. In our proposed structure, the speed is determined
by the liquid crystal material. We have made the LC panels with Ferroelectric Liquid Crystal (FLC).
Compared with the conventional nematic LC, the FLC has the memory-like characteristics as well as the
high-speed mobility. Hence, there is no need for complicated memory elements such as TFTs (Thin film
transistors), which results in the simple panel structure (passive matrics) and low cost. We have
demonstrated the FLC panel having 100x100 pixels. It was found that some pixels were damaged due to
the LC defects. We are now improving FLC quality. The steering speed was evaluated. In this case, we
measured optical beam shift (@633 nm). The rise time and fall time were about 100μs. Currently, the
steering speed is improving according to the several ideas.
                 
(2) Novel modulation system for Laser-Radar
Several modulation schemes such as the homodyne pulsed modulation have been studied in order to get
the improved S/N ratio. The pros and cons have been investigated from the practical point of view.

(3) Identification of poisonous gases by using various lasers with different wavelengths
The absorption spectra of various gases have been studied using HITRAN (HIgh resolution
TRANsmission molecular absorption database) and HITRAN-PC software. We also consider the gas
to be detected because it changes according to the situation of the events and environments. For the
experiment, we ordered the gas cell with 300 Torr carbon oxide, which may be generated at the fire. The
observation model of the light scattering has been studied. In the model, the laser beam with Gaussian
profile is irradiated to the atmosphere, in which various gasses and aerosols are contained. The part of the
light is scattered, absorbed, propagated, and back to the detector in the Laser Radar. The spectrum can be
calculated and compared to the absorption spectra of the molecules to identify the gases in the
environment.

(4) Highly reliable electric circuit for ROBOT eye control
 We have designed an electric circuit for passive matrix type FLC panels. The target value of the pulse
timing error is less than 1μs.

(5) High speed 3-D mapping
To survey the current level of the 3-D mapping for Laser Radar, we have examined the open
source program as Point Cloud Library (PCL) combined with the commercial device (Kinect).
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