{"id":227949,"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00227949","sets":["1164:3865:11134:11331"]},"path":["11331"],"owner":"44499","recid":"227949","title":["ArduPilotと三次元深度情報を用いたクローラ型温室内自律走行車両の提案"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-09-18"},"_buckets":{"deposit":"c039d6a7-d1e0-4ace-87e4-f936a4f831a9"},"_deposit":{"id":"227949","pid":{"type":"depid","value":"227949","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"ArduPilotと三次元深度情報を用いたクローラ型温室内自律走行車両の提案","author_link":["608112","608113","608114"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ArduPilotと三次元深度情報を用いたクローラ型温室内自律走行車両の提案"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット技術と自律移動","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2023-09-18","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"静岡大学大学院総合科学技術研究科情報学専攻"},{"subitem_text_value":"静岡大学大学院自然科学系教育部"},{"subitem_text_value":"静岡大学学術院情報学領域／グリーン科学技術研究所"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/227949/files/IPSJ-MBL23108020.pdf","label":"IPSJ-MBL23108020.pdf"},"date":[{"dateType":"Available","dateValue":"2025-09-18"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-MBL23108020.pdf","filesize":[{"value":"3.1 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"35"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"56974db1-65e5-44af-9f2d-9789622b7a3b","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"渡邊, 翔生"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小池, 誠"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"峰野, 博史"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11851388","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8817","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，IoT 技術の進展により，農業施設内にセンサノードやカメラを設置し，環境情報や植物の生長記録を収集する研究が活発に行われている．最近増加傾向の大規模施設栽培環境では，これら計測器の設置や運用管理にかかる労力を軽減するため，農業施設内を自律的に移動できるロボットの研究が盛んである．しかし，農業施設内は走行路が平らでなく土埃も多いため，室内の掃除ロボットのようなバッテリーの自律充電機能まで備えた小型システムはない．そのため，定期的に人手を介入させ充電作業やバッテリー交換作業を行う必要がある．本研究では，静止したまま旋回動作が可能であるクローラ型の安価なラジコンカーをベースとして，充電機能を備えた自律移動型の成長記録システムを提案する．このシステムでは，RealSense を用いて ArUco マーカを検出することによって走行制御を行い，2D-LiDAR から収集する点群情報を用いたテンプレートマッチングによる充電ステーションの発見と自律充電を行う．本クローラ型温室内自律走行車両の制御は，3DRobotics 社製のドローン用フライトコントローラ Pixhawk を採用し，Raspberry Pi 4 で操作する方式を採用した．車両には，RealSense，2D-LiDAR，Pixhawk，Raspberry Pi 4，植物生長記録用の RGB カメラ，Qi 充電受信機，各種モータを搭載しており，屋内環境での基礎評価の結果，移動を自在に走行制御可能なことが確認できた．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告モバイルコンピューティングと新社会システム（MBL）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2023-09-18","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"20","bibliographicVolumeNumber":"2023-MBL-108"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"updated":"2025-01-19T12:00:13.464431+00:00","created":"2025-01-19T01:27:11.916078+00:00","links":{}}