動態三超音波感測器融合視覺系統應用於行走機器人

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姓名

柯漢良(Han-Liang Ko ) 查詢紙本館藏

畢業系所

電機工程研究所

論文名稱

動態三超音波感測器融合視覺系統應用於行走機器人
(Dynamic Tri-ultrasonic Transducer Fused with Vision System for a Mobile Robot)

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摘要(中)

在行走機器人的領域裡，視覺感測器扮演著重要的角色，而一個智慧型的感測器系統必須滿足兩個需求：(1)正確地分辨出反射物的形狀(如平面，牆沿及牆角) (2)精準地對反射物定位(包括距離及方位)。因此，在本篇論文中，我們提出了一個新的動態三超音波感測器融合視覺的量測系統，其主要的目的可以正確地識別反射物並對它們做正確地定位。其中，我們提出一套新的辨識規則，使量測系統能更準確地對反射物做分類。並且，以一種新的動態估測方法進行對反射物做正確地定位。

摘要(英)

Visual sensors play an important role in the realm of mobile robot. An intelligent sensor system must satisfy two requirements: (1) classifying the reflectors correctly (such as planes, corners and edges) (2) localizing the reflectors accurately (including distance and orientation). In the thesis, a new measuring system called the dynamic tri-ultrasonic transducer fused with vision system will be proposed. The main functions are to discriminate the reflectors correctly and localize them accurately. Furthermore, the new classification rules will be introduced to classify the reflectors more accurately and a dynamic estimation method will proposed to localize them precisely.

關鍵字(中)

★ 分類
★ 定位
★ 融合
★ 行走機器人
★ 視覺
★ 超音波感測器

關鍵字(英)

★ Classification
★ Fused
★ Localization
★ Mobile Robot
★ Ultrasonic Transducer
★ Vision

論文目次

Abstract ……………………………………………………………… Ⅰ
Table of Content …………………………………………………… Ⅱ
List of Figures …………………………………………………… Ⅴ
List of Tables ……………………………………………………… Ⅶ
Chapter 1: Introduction …………………………………………… 1
1-1 Background ……………………………………………………… 1
1-2 Motivation ……………………………………………………… 1
1-3 Organization …………………………………………………… 2
Chapter 2: Survey of Ultrasonic and Vision Measuring
Systems ………………………………………………………………… 3
2-1 Introduction …………………………………………………… 3
2-2 One Ultrasonic Measuring Systems ………………………… 3
2-3 Two Ultrasonic Measuring Systems ………………………… 5
2-4 Three Ultrasonic Measuring Systems ……………………… 8
2-5 Five Ultrasonic Measuring Systems …………………………15
2-6 Measuring Systems of Ultrasonic Transducers with CCD Cameras …………………………………………………………………17
2-7 Summaries of the Measuring Systems ……………………… 17
Chapter 3: Basic Principles of Ultrasonic Sensors and CCD
Cameras …………………………………………………………………19
3-1 Introduction …………………………………………………… 19
3-2 The Basic Principles of Ultrasonic Sensors …………… 19
3-2-1 The physical model of ultrasound ……………………… 19
3-2-2 The conventional ultrasonic ranging systems …………20
3-2-3 The model of the environment …………………………… 23
3-3 The Principles of Image Processing ……………………… 23
3-3-1 The features of the image ……………………………… 23
3-3-2 The image enhancement …………………………………… 24
3-3-3 The image segmentation …………………………………… 25
Chapter 4: Design of the Dynamic Tri-ultrasonic Transducer Fused with Vision System ………………………………………… 27
4-1 Introduction …………………………………………………… 27
4-2 The Principles of the Dynamic Tri-ultrasonic Transducer Fused with Vision System ………………………………………… 27
4-2-1 The Principle of the Shape Discriminator …………… 27
4-2-2 The Principle of the Inclination Angle Detector … 30
4-3 The Design of the Dynamic Tri-ultrasonic Transducer Fused
with Vision System …………………………………………………32
4-3-1 Classification Step …………………………………………32
4-3-2 Localization Step ……………………………………………35
4-4 The Operation Procedures of the Dynamic Tri-ultrasonic
Transducer Fused with Vision System ………………………… 37
Chapter 5: Hardware and Software Design ………………………38
5-1 Introduction …………………………………………………… 38
5-2 Ultrasonic Transducer ……………………………………… 39
5-3 Ultrasonic Ranging Module ………………………………… 40
5-4 Data Acquisition Card (PCI-1712) ………………………… 42
5-5 CCD Camera ……………………………………………………… 43
5-6 Frame Grabber ………………………………………………… 43
5-7 Stepper motor and Driver …………………………………… 43
5-8 Personal Computer …………………………………………… 44
Chapter 6: Experimental Results and Discussion …………… 45
6-1 Introduction …………………………………………………… 45
6-2 Experiments Verifications ………………………………… 45
6-2-1 Classification ………………………………………… 45
6-2-2 Localization …………………………………………… 51
6-3 Discussion ……………………………………………………… 52
Chapter 7: Conclusions and Recommendations ………………… 53
References …………………………………….…………………… 54
Appendix ……………………………………………………………… 56

參考文獻

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指導教授

鍾鴻源(Hung-yuan Chung)

審核日期

2001-6-28

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