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ORIGINAL ARTICLE
Artif Life Robotics (2011) 16:86–89 ? ISAROB 2011
DOI 10.1007/s10015-011-0892-1
S. Ueki · H. Kawasaki · Y. Ishigure · K. Koganemaru
Y. Mori
Development and experimental study of a novel pruning robot only one commercial product is available in Japan.6 The machine climbs a tree spirally and cuts branches using a chainsaw. However, the machine’s weight (25 kg) and slow speed hinder it from being an optimal solution to resolve the forest crisis. A lightweight platform is required, because most of the mountains in Japan have steep slopes, and the transportation of a pruning robot is a demanding task. To advance the state of the art of pruning robots, we present an innovative pruning robot that has its center of mass outside the tree. The wheel mechanism is designed for a hybrid climbing method, i.e., the robot is able to switch between straight and spiral climbs. This method ensures both lightweight and high climbing speed features in the Robot. In an earlier publication,7 we introduced the basic design concept and described some experiments with the prototype robots in detail. Moreover, the hybrid climbing method has proven that the proposed pruning robot can climb up and down a tree at high speed.8 Here, we report our progress in developing the robot, focusing on straight climbing, its behavior on uneven surfaces, and pruning. 2 Developed pruning robot With the ultimate goal of building a lightweight pruning robot, we have developed a novel climbing method that uses no pressing or grasping mechanism, but relies on the weight of the robot itself, like a traditional Japanese timberjack does when climbing a tree (Fig. 1). The timberjack uses a set of rods and ropes, which is called “Burinawa,” and does not hold or grasp the tree strongly, while his center of mass is located outside the tree. That is, the timberjack can stay on the tree using his own weight. Based on this new design concept and the requirements of the forestry industry, the pruning robot has been developed. As shown in Fig. 2, the robot is equipped with four active wheels. Wheels 1 and 2 are located on the upper side, and wheels 3 and 4 are located on the lower side. Each wheel is driven by a DC servomotor and a warm wheel
Abstract This article presents the development of a timberjack- like pruning robot. The climbing principal is an imitation of the climbing approach of timberjacks in Japan. The robot’s main features include having its center of mass outside the tree, and an innovative climbing strategy fusing straight and spiral climbs. This novel design brings both lightweight and high climbing speed features to the pruning robot. We report our progress in developing the robot, focusing on straight climbing,
1
behavior on uneven surfaces, and pruning.
Key words Pruning robot · Climbing robot
1 Introduction The timber industry in Japan has gone into decline because the price of timber is falling and forestry workers are aging rapidly. This has caused the dilapidation of forests, resulting in landslides following heavy rainfall and the dissolution of mountain village society. However, a pruned tree in a suitably trimmed state is worth money because its lumber has a beautiful surface with well-formed annual growth rings. The development of a pruning robot is important for the creation of sustainable forest management. The research and development of a pruning robot 1–5 has been rare, and Received and accepted: February 25, 2011
S. Ueki (*)
Department of Mechanical Engineering, Toyota National Colleges of
Technology, 2-1 Eiseicho, Toyota, Aichi 471-8525, Japan
e-mail: s_ueki@toyota-ct.ac.jp
H. Kawasaki · K. Koganemaru
Department of Human and Information Systems Engineering, Gifu
University, Gifu, Japan
Y. Ishigure
Marutomi Seikou Co. Ltd., Seki, Japan
Y. Mori
Hashima Karyuu Kougyou Ltd., Gifu, Japan
This work was presented in part at the 16th International Symposium
on Artifi cial Life and Robotics, Oita, Japan, January 27–29, 2011
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the batteries. The center of mass was located with a margin of error, because the friction coeffi cient is unclear and the position of the center of mass may be moved by disturbance. For example, the robot will be tilted when it climbs up an uneven surface. In Fig. 2a, the center of mass was located with parameters H = 0.3 m and W = 0.22 m, where H is the distance between the upper side wheel and the lower side wheel, and W is the distance between the surface of the trunk and the center of mass, as shown in Fig. 3. The analysis shows that the robot is robust when D is 0.25 m, even if it is tilted about 0.1 rad. The controller is constructed using a CPU board which is equipped with a wireless LAN. The controller is able to communicate data/commands with a personal computer via the wireless LAN. Each wheel is controlled by a velocity PI control. A velocity feedback input through a high-pass filter is appended. By comparison with the 2nd prototype,8 the 3rd prototype is lightweight except for the controller and batteries. Also, the controller and the electrical source were located externally in the 2nd prototype. The 3rd prototype is also equipped with a wireless LAN and a chainsaw. Although details of the chainsaw are omitted here, an experiment was performed to show the cutting of a branch using the 3rd prototype.
3 Experiments
Three experiments were performed to evaluate the 3rd prototype. The 1st experiment was to evaluate its basic performance. The 2nd experiment was to evaluate its robustness on uneven surfaces. The 3rd experiment was to show whether the robot can prune a branch. All experiments were performed using a substitute tree indoors. The diameter of the substitute tree was 0.25 m. The frictional coeffi - cient of the substitute tree was about 0.4, which is less than that of a natural tree. To collect the experimental data, the motor current, the position of the robot, and the orientation of the robot were measured. The motor current was measured using shunt resistance. The position was measured by a 3-D position measurement device (OPTOTRAK, Northern Digital). The orientation was measured by a 3-D orientation sensor (InertiaCube2, InterSense).
Fig. 1. Tree climbing method using “BURINAWA”
Fig. 2. 3rd prototype of pruning robot. a Photo image. b CAD image reduction mechanism which has non-back-drivability. The steering angle of each wheel is also driven by the DC servomotor and the warm wheel reduction mechanism. Based on analysis,7–9 the center of mass was located outside the tree with the help of the weight of the controller and
Fig. 3. 3D fi gure of a pruning robot on a tree. a Side view. b Top view
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3.1 Basic performance
A straight climbing experiment was performed to evaluate the robot’s basic performance. The desired speed of the four wheels was given by the trapezoidal profi le. The acceleration was 0.2 m/s2, and the speed was 0.2 m/s per 0.075 m of wheel radius. The experimental results are shown in Figs. 4, 5, and 6. Figure 4 shows the speed of the robot. The speed of each wheel was calculated from the values of the rotary encoder. The robot was able to climb at 0.2 m/s. Although there was a starting delay of about 0.5 s owing to the control law, this was not a problem. Figure 5 shows the distance moved. The “3D” value was measured by a 3D position measurement device, and the distance moved by each wheel was calculated from the value on the rotary encoder. In Fig. 5, we found three types of error: errors in the distance moved between each wheel and the 3D position measurement device (E1); error between wheel 1 (or 3) and wheel 2 (or 4) (E2); error between wheel 1 and wheel 3 (and error between wheel 2 and wheel 4) (E3). We considered two possible reasons for these errors. The fi rst was differences in the deformation of each wheel. The distance moved by each wheel was calculated as 0.075 m of the radius of the wheel. The wheel was composed of urethane and an inner tube which was deformed by the force acting on it. The deformation volume depended on the magnitude of the force. From a theoretical analysis,7–9 the magnitude of the force in the third prototype tended to be as follows. The normal force near the center of mass becomes larger than the force at the opposite side. Hence, Fn4 = Fn2 > Fn3 = Fn1 was considered, where Fni is magnitude of the normal force of wheel i. Both (E1) and (E2) can be explained in this way. We also considered that the reason for (E3) was slippage of the wheel on the trunk. Figure 6 shows the electric current in the wheel motors, which were measured by the shunt resistance. The theoretical analysis7–9 also showed that the tangential force on the lower side is larger than that on the upper side. Figure 6 tends toward the theoretical analysis.
3.2 Behavior on uneven surfaces
To use the robot safely, it must be robust on an uneven tree trunk. There will always be bumps caused by the growth of the remnants of a pruned branch. Therefore, a straight climbing experiment was performed to evaluate the robustness of the pruning robot for bumps on trunk. This experiment was performed on a substitute bump. The bump was made of ABS plastics, and was larger than a natural bump.The desired speed of the four wheels was given by a trapezoidal profile. The acceleration was 0.2 m/s2 and the speed was 0.2 m/s for every 0.075 m of the radius of the wheel. The experimental results are shown in Fig. 7, which shows the trajectories of angles 1 and 2 (see also Fig. 2b). Angle 2 rotated toward the plus direction in all cases, indicating that the control box was rising. This means that the center of mass moved toward the tree. The center of mass also moved toward the tree when angle 1 rotated toward the plus direction. This means that there is a decrease in the friction force keeping the robot on the tree. However, the electric currents in wheels 2 and 4 were larger than the continuous current in the experiment. Therefore, there was no danger of the robot falling down. Moreover, these angles returned to their former orientation, even though both angles 1 and 2 had changed when a wheel went over the bump. These results show the good robustness of the robot.
3.3 Pruning experiment An experiment was carried out to discover whether the 3rd prototype could prune a branch. An attached chainsaw was driven by a DC motor with a 24-V battery. The robot climbed the tree spirally at a speed of 0.03 m/s. The diameter of the target branch was 0.01 m.
Fig. 4. Climbing speed
Fig. 5. Climbing distance
Fig. 6. Electric current of each wheel
Fig. 7. Roll angle and pitch angle in each case. a Wheel 1 goes over the
bump, b Wheel 2 goes over the bump, c Wheel 3 goes over the bump,d Wheel 4 goes over the bump
Fig. 8. Pruning experiment with the pruning robot The experimental scene is shown in Fig. 8. In this experiment, the branch was cut off leaving only a short remnant which was less than 0.005 m, and the trunk was not injured.
4 Conclusion
The developmental progress of a timberjack-like pruning robot has been described, focusing on straight climbing, its behavior on an uneven surface, and pruning a branch. The straight climbing experiment showed that the 3rd prototype gave a good basic performance. The result of the climbing experiment on an uneven surface showed good robustness for bumps, because most bumps on real trees are smaller than the experimental bump. Moreover, the pruning experiment
also showed that the 3rd prototype can prune a branch from a tree.In future work, we hope to test the robot in a real environment,
and try to make some further improvements.
References
1. Takeuchi M, et al (2009) Development of street tree climbing robot
WOODY-2 (in Japanese). Proceedings of Robomec 2009, 1A2–D07
2. Kushihashi Y, et al (2006) Development of structure of measuring
grasping power to control simplifi cation of tree, climbing and
pruning robot Woody-1 (in Japanese). Proceedings of the 2006
JSME Conference on Robotics and Mechatronics
3. Suga Y, et al (2006) Development of tree-climbing and pruning
robot WOODY. Actuator arrangement on the end of arms for
revolving motion (in Japanese). Proceedings of SI2006, pp
1267–1268
4. Yokoyama T, Kumagai K, Arai Y, et al (2006) Performance evaluation
of branches map building system for pruning robot (in Japanese).
Proceedings of the 2006 JSME Conference on Robotics and
Mechatronics
5. Yamada T, Maeda K, Sakaida Y, et al (2005) Study on a pruning
system using robots: development of prototype units for robots (in
Japanese). Proceedings of the 2005 JSME Conference on Robotics
and Mechatronics
6. Seirei Industry. http://www.seirei.com/products/fore/ab232r/ab232r.
html. Accessed May 2011
7. Kawasaki H, Murakami S, Kachi H, et al (2008) Analysis and experiment
of novel climbing method. Proceedings of the SICE Annual
Conference 2008, pp 160–163
8. Kawasaki H, Murakami S, Koganemaru K, et al (2010) Development
of a pruning robot with the use of its own weight. Proceedings of
Clawar 2010, pp 455–463
9. Kato T, Koganemaru K, Tanaka A, et al (2010) Development of a
pruning robot with the use of its own weight (in Japanese). Proceedings
of RSJ2010, Nagoya
中文譯文:
人工生命的機器人（2011）16:86–89?isarob?2011
10.1007/s10015-011-0892-1
S. Ueki · H. Kawasaki · Y. Ishigure · K. Koganemaru
Y. Mori一個新的修剪機器人的實驗研究進展在日本只有一個商業(yè)產(chǎn)品。這臺機螺旋地爬上一棵樹使用電鋸修剪樹枝。然而，機器的重量（25公斤）和緩慢的速度阻礙它成為解決森林危機的最佳解決方案。一個輕量級的平臺是必需的，因為在日本，大部分山脈有陡峭的山坡，一個修剪機器人運輸是一項艱巨的任務(wù)。以提前修剪機器人的藝術(shù)狀態(tài)，我們提出一個創(chuàng)新的修剪機器人對于外面大多數(shù)的樹都能高效工作。它的輪系機構(gòu)的設(shè)計是為了適應(yīng)于混合爬山，即，機器人能夠開關(guān)之間的直線和螺旋爬升。該方法保證了機器人的輕量化和高爬的速度特征在早期的出版物，我們介紹了基本的設(shè)計概念和描述的原型實驗機器人了。此外，混合爬山法已經(jīng)證明，該修剪機器人可以高速的爬上爬下大樹。在這里，我們報告我們開發(fā)機器人的進展，專注于直爬，善于不平坦的表面上的工作，和修剪。2先進的修剪機器人隨著建設(shè)輕修剪的終極目標(biāo)機器人，我們已經(jīng)開發(fā)了一種新型的爬山法，采用無壓或抓機制，而是依靠機器人本身的重量，像日本傳統(tǒng)的伐木工不會爬樹的時候（圖1）。該用的一套桿和繩子，這是所謂的“burinawa，“不握不住或抓住樹干，而他的質(zhì)量中心位于樹。是的，該可以用自己的重量停留在樹上。基于這一新的林業(yè)產(chǎn)業(yè)的設(shè)計概念和要求，修剪機器人有了很大的發(fā)展。如圖2所示，該機器人配備了四主動輪。輪1和2位于上側(cè)，輪3和4位于下側(cè)。每個輪由直流伺服電機、蝸輪驅(qū)動。
摘要 本文介紹了一個伐木工的發(fā)展—像修剪機器人。攀登主要是模仿在日本的timberjacks攀登方法。機器人的主要功能包括對外面的樹進行修剪工作，和一個創(chuàng)新的爬山策略融合直線和螺旋式攀升的方式。這種新穎的設(shè)計帶來了輕量化和高爬升速度特征的修剪機器人。我們報告我們在發(fā)展機器人進展，針對直爬，不平坦的表面上的工作、修剪。
關(guān)鍵詞· 修剪機器人 爬壁機器人
1引言
日本木材工業(yè)已經(jīng)進入下降的原因，木材價格下降和林業(yè)工人老齡化迅速。這導(dǎo)致了森林的破壞，導(dǎo)致在暴雨和山體滑坡的破壞山村地區(qū)。然而，在一個適當(dāng)?shù)呐淦綘顟B(tài)修剪樹是值得在上面投資的，因為其形成一個美麗的表面形成年輪。
一個修剪機器人的發(fā)展對可持續(xù)森林管理的創(chuàng)新是很重要的。研究開發(fā)的修剪機器人1–5已經(jīng)很少見了。2011年2月25日
S.植木
機械工程系，豐田民族院校豐田471-8525，愛知縣，日本
電子郵件：s_ueki@toyota-ct.ac.jp
川崎·koganemaru?H.?K.
人與信息系統(tǒng)工程系，岐阜大學(xué)，岐阜縣，日本
Y.石博
marutomi有限公司，，日本
Y.森
雪蛤karyuu興業(yè)有限公司，岐阜縣，日本
這部分工作是在第十六屆國際研討會在人工生命與機器人項目展現(xiàn)的，，日本，一月27日–29日，2011年。
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電池，質(zhì)量中心位于一個錯誤的邊緣，由于摩擦系數(shù)不明確、質(zhì)量中心的位置可能被干擾。
例如，機器人會傾斜，當(dāng)它爬上一個不均勻的表面。在圖2a，質(zhì)心定位參數(shù)H =?0.3?M和W?=?0.22米，其中H為上輪和下側(cè)面之間的距離輪，和W的表面之間的距離軀干和質(zhì)量中心，如圖3所示。分析表明機器人當(dāng)D為0.25米，即使它傾斜約0.1拉德?？刂破魇褂靡粋€CPU板構(gòu)成，配備了無線局域網(wǎng)。該控制器能夠通信數(shù)據(jù)/命令與個人電腦通過無線局域網(wǎng)。每一輪由速度PI控制。通過一個高通濾波器的速度反饋輸入附加。通過與第二個原型比較，第三原型重量輕，除控制器和電池。同時，控制器和電源分布在外部的第二個原型。第三原型也配備一個無線局域網(wǎng)和電鋸。雖然的電鋸細節(jié)在這里省略了，實驗表明一個分支使用第三切削原型。
3實驗
三實驗進行評估的第三個原型。第一個實驗是對其基本性能。第二個實驗是評價其在不平坦的表面的性能。第三實驗表明機器人是否可以修剪樹枝。所有的實驗使用替代樹在室內(nèi)進行。替代樹直徑的是0.25米的摩擦系數(shù)—有效的替代樹大約是0.4，這是小于這一自然的樹。收集實驗數(shù)據(jù)包括，該電機電流，機器人的位置和方向，機器人的測定，測量電機電流。
使用分流電阻。測定位置的一個三維位置測量裝置（OPTOTRAK，北
數(shù)字）。用三維定位測量定位傳感器（inertiacube2，InterSense）。
圖1。爬樹方法使用“burinawa”
圖2。第三修剪機器人原型。照片圖像。B?CAD圖像
還原機制具有非回駕駛性能。每個車輪的轉(zhuǎn)向角度也由直流驅(qū)動,伺服電機和蝸輪減速機構(gòu)。
在分析的基礎(chǔ)上，7–9質(zhì)量中心位于外樹與控制器的重量。
圖3。對一棵樹的修剪機器人三維圖。側(cè)視圖。俯視圖
3.1基本性能
直爬實驗進行評估，機器人的基本性能。這四個預(yù)期的速度輪子是由梯形的簡介。加速度
0.2米/?S2，和速度為0.2米/秒 ，車輪半徑0.075米，。
實驗結(jié)果顯示在圖。4，5，和6。圖4顯示了機器人的速度。各自的速度從旋轉(zhuǎn)編碼器的值計算出輪。機器人能爬在0.2米/秒。雖然有一個約0.5由于控制法啟動延遲，這是一個問題。圖5顯示移動的距離。它的實現(xiàn)是由一個三維位置測量設(shè)備，和移動的距離每輪計算
從價值上的旋轉(zhuǎn)編碼器。在圖5中，我們發(fā)現(xiàn)三種類型的錯誤：在距離誤差的感動每一輪的三維位置測量之間裝置（E1）之間的誤差；輪1（或3）和2（或輪4）（E2）；輪1和輪3之間的誤差（誤差之間的2和4輪輪）（E3）。我們考慮了兩這些錯誤的可能原因。第一個是差異在每一輪的變形。移動的距離按0.075米的半徑為每個車輪的每一圈。車輪是由聚氨酯合成的管，它是作用在它變形的力。它的變形量的大小取決于力。從理論上分析，7–9級在第三原型的力量往往是如下。的正常力近質(zhì)心變得大于在對面的力。因此，填充扶手椅形=?FN2?>?FN3?=?FN1被認為是，在法國是正常的力的大小第一輪（E1）和（E2）可以這樣解釋。我們認為原因是滑移（E3）樹干上的車輪。圖6顯示了電流在輪轂電機，這是由并聯(lián)測量電阻。理論分析也表明，在下側(cè)切向力大于上面。圖6傾向于理論分析，不平坦的表面上安全使用的機器人正常工作，它必須在不平的樹是強大的樹干。總是會有由增長引起的顛簸一個修剪枝的遺跡。因此，直爬坡實驗進行評估顛簸在樹干修剪機器人的性能。這個實驗在一個替代的凹凸進行。采用ABS塑料，和大于天然凹凸。在四輪所需的速度是由一個梯形了簡介。加速度為0.2米/?S2和速度為0.2米/秒，每0.075米半徑的車輪。
實驗結(jié)果如圖7所示，其中顯示角度1的軌跡和2（參見圖2B）。2角旋轉(zhuǎn)對所有病例加方向，指示這個控制箱上升。這意味著，大眾走向樹中心。質(zhì)量中心也走向了樹當(dāng)1角方向旋轉(zhuǎn)正方向。這意味著減少摩擦力使機器人在樹上。然而，在2個輪子的電流和4均大于在實驗中連續(xù)電流。因此，有沒有危險的機器人跌倒。此外，這些角度回到原來的方向，即使角度1和2發(fā)生了當(dāng)一輪了凹凸。這些結(jié)果顯示了良好的性能。
3.3修剪試驗
進行實驗，發(fā)現(xiàn)無論是第三原型可以修剪樹枝。一個附加的電鋸是由一個24V蓄電池直流電機驅(qū)動。機器人爬上螺旋的速度在0.03米/秒的直徑的樹該目標(biāo)分為0.01米。
圖7。在每一種情況下滾角和俯仰角。一輪1過去的凹凸，B輪2通過凹凸，C輪3通過凹凸，D輪4通過凹凸圖8。機器人與修剪修剪試驗，實驗的場景如圖8所示。在這個實驗中，
樹枝被切斷，只留下一個短暫的殘這是小于0.005米，與樹干沒有受傷。
4結(jié)論
一個伐木工像修剪的發(fā)育進程，機器人已經(jīng)被描述，針對直爬，其在不平坦的表面行為，修剪樹枝。的實驗表明，直爬第三原型給了一個很好的基本性能。攀爬的結(jié)果在不平坦的路面上試驗中表現(xiàn)出良好的魯棒性顛簸，因為真正的樹最凸起的小比實驗碰撞。此外，修剪試驗
還表明第三的原型可以修剪樹枝從一棵樹。在今后的工作中，我們希望在實際環(huán)境中的機器人測試，試著做一些進一步的改進。
工具書類
1。張軍軍，等人2009年開發(fā)行道樹爬壁機器人木本。2009促進了程序，1A2–D07的發(fā)展。
2。kushihashi?Y，等人2006年發(fā)展了結(jié)構(gòu)測量抓樹力修剪樹，攀爬修剪機器人木本（日本）。2006年開展程序與機器人與機電一體化會議。
3。Suga Y，等人2006年開發(fā)攀樹和修剪機器人木本。執(zhí)行器布置在臂端為了旋轉(zhuǎn)運動（日本）。促進了si2006，PP1267–1268
4。Yokoyama T, Kumagai K, Arai Y，等人（2006）評估了樹枝修剪機器人地圖構(gòu)建系統(tǒng)的績效（日本）。在2006年開展了程序和機器人機電一體化會議。
5。Yamada T, Maeda K, Sakaida Y，et al（2005）研究用于機器人的修剪系統(tǒng)：發(fā)展了機器人樣機單元（日本）。開展了機器人2005日本機械學(xué)會與機電一體化會議。
6。圣隸工業(yè)。http://www.seirei.com/products/fore/ab232r/ab232r。HTML。2011年5月可以訪問
7。Kawasaki H, Murakami S, Kachi H，等人（2008）分析與實驗新型爬山法。開展了2008，PP 160–163的SICE會議。
8。Kawasaki H, Murakami S, Koganemaru K，等人（2010）開發(fā)一個用其自身的重量的修剪機器人。促進455–CLAWAR?2010，PP?463行業(yè)的發(fā)展
9。Kato T, Koganemaru K, Tanaka A，等人（2010）開發(fā)的一個利用自身的重量的修剪機器人（日本）。促進著rsj2010，名古屋的發(fā)展。
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