輪型機器人之影像辨識應用於跟隨人與電梯辨識

以作者查詢圖書館館藏

、以作者查詢臺灣博碩士

、以作者查詢全國書目

、勘誤回報

、線上人數：54

、訪客IP：3.141.21.199

姓名

林玗瑾(Yu-chin Lin) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

輪型機器人之影像辨識應用於跟隨人與電梯辨識
(The function of people following and elevator recognition for a wheel mobile robot using image processing technique)

相關論文

★ 直接甲醇燃料電池混合供電系統之控制研究	★ 利用折射率檢測法在水耕植物之水質檢測研究
★ DSP主控之模型車自動導控系統	★ 旋轉式倒單擺動作控制之再設計
★ 高速公路上下匝道燈號之模糊控制決策	★ 模糊集合之模糊度探討
★ 雙質量彈簧連結系統運動控制性能之再改良	★ 桌上曲棍球之影像視覺系統
★ 桌上曲棍球之機器人攻防控制	★ 模型直昇機姿態控制
★ 模糊控制系統的穩定性分析及設計	★ 門禁監控即時辨識系統
★ 桌上曲棍球：人與機械手對打	★ 麻將牌辨識系統
★ 相關誤差神經網路之應用於輻射量測植被和土壤含水量	★ 三節式機器人之站立控制

檔案

[Endnote RIS 格式]

[Bibtex 格式]

[相關文章]

[文章引用]

[完整記錄]

[館藏目錄]

[檢視]

[下載]

本電子論文使用權限為同意立即開放。
已達開放權限電子全文僅授權使用者為學術研究之目的，進行個人非營利性質之檢索、閱讀、列印。
請遵守中華民國著作權法之相關規定，切勿任意重製、散佈、改作、轉貼、播送，以免觸法。

摘要(中)

本論文主要提供影像處理及辨識之技術並實現於一部輪型機器人，使之具有自主跟隨與自動搭乘電梯的功能。在自主跟隨部分，藉由各種感測器資訊 (紅外線、超音波、光球裝置) 及無線通訊模組 (Zigbee)，搭配影像處理技術與控制策略，讓機器人能夠即時辨識及跟隨主人，並保持適當距離。機器人利用光球裝置能夠變色的功能，搭配Zigbee即時傳送訊息，即使存在有其他 (相同或相異) 光源干擾，依然能夠成功辨識出主人。
在辨識電梯內外環境與自動搭乘部分，主要利用攝影機擷取環境影像 (包括電梯門、電梯面板、電梯按鈕)，再透過影像辨識技術，並結合感測器資訊 (紅外線與超音波)，讓機器人能夠達到以下功能：1) 正確判斷外部電梯門位置； 2) 自動偵測內部電梯面板； 3) 正確辨識內部電梯按鈕，並成功按壓。自主跟隨與自動搭乘電梯的實驗最後將成功呈現於本論文之第五章。

摘要(英)

The thesis proposes an image processing technique on a wheel mobile robot to achieve the functions of people following and elevator taking. Concerning the people following, by using the technology of image processing and control strategy, the robot can recognize the master and keep in an appropriate distance between master and robot and follow the master in real time according to the information of sensors adopted from infrared, sonar, wireless communication module (Zigbee) and the device of light. In addition, by using Zigbee, the robot can communicate with the light ball, which is tie in the back of the master, to change its color when there is other same color lights appearing in the vision of the robot such that the master can be recognized continuously.
Concerning the elevator taking, camera captures the image of the elevator environment, including elevator door, elevator panel and elevator button. Using image processing technique and sensors (infrared and sonar) information, the robot can achieve the tasks as follows. 1) Detecting the position of elevator door outside; 2) detecting the position of elevator panel inside; 3) recognizing and pushing the elevator button correctly. Therefore, the robot can recognize, follow people and take elevator successfully. The experiment result is implemented successfully and shown in Chapter 5 of this thesis.

關鍵字(中)

★ 自主跟隨
★ 模糊控制
★ 影像處理
★ 輪型機器人
★ 光球裝置
★ 自動搭乘電梯

關鍵字(英)

★ Image processing
★ Following robot
★ Taking elevator robot
★ Light device
★ Wheel mobile robot

論文目次

摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 XII
第一章緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 2
1.3 論文目標 4
1.4 論文架構 5
第二章系統架構與軟硬體介紹 6
2.1 系統架構 6
2.2 機器人端 7
2.2.1 電腦端 7
2.2.2 硬體端 8
? 紅外線感測器 8
? 攝影機 9
2.3 使用者端 10
2.3.1 微處理機主控模組 11
2.3.2 Zigbee無線傳輸模組 12
2.3.3 LED驅動模組 13
2.3.4 電源與充電模組 14
2.3.5 RGB-LED光球模組 15
2.4 人機介面 16
第三章影像辨識與處理 18
3.1 光球辨識 18
3.2 電梯門偵測與辨識 20
3.3 電梯面板偵測 25
3.4 電梯按鈕辨識 31
3.5 雙眼視覺系統 41
第四章自主跟隨與搭乘電梯控制策略 46
4.1 機器人跟隨策略 46
4.1.1 辨識主人 47
4.1.2 主人遺失搜尋機制 49
4.1.3 自主跟隨控制器設計 52
4.2 搭乘電梯行動策略規劃 58
第五章實驗成果 65
5.1 機器人跟隨 65
5.1.1 直線行走 65
5.1.2 繞柱子轉彎 66
5.1.3 其他光源干擾 67
5.2 機器人辨識電梯內外 69
5.2.1 電梯外部環境偵測 69
5.2.2 電梯內部環境 (電梯面板) 偵測與位置校正 70
5.2.3 電梯按鈕辨識與按壓 71
第六章結論與未來展望 72
6.1 結論 72
6.2 未來展望 72
參考文獻 74

參考文獻

[1] 日本富士通公司「ENON」機器人相關網站，2011年11月
http://www.frontech.fujitsu.com/en/forjp/robot/servicerobot/
[2] 交通大學「RoLA」機器人網站，2011年11月
http://isci.cn.nctu.edu.tw/ResearchResult/index.html
[3] 國立台灣科學工藝博物館網站，2011年11月
http://www.nstm.gov.tw
[4] 日本三菱重工「Wakamaru」機器人相關網站，2011年11月
http://www.mitsubishi.com/mpac/e/monitor/back/0602/story.html
[5] Shadow caddy網站，2011年11月
http://www.shadowcaddy.eu/
[6] 賴一翔(王文俊教授指導)，具搜尋避障之自動跟隨機器人，國立中央大學電機工程學系碩士論文，2009年6月。
[7] 林廷燦(王文俊教授指導)，具影像辨識及自動跟隨功能之智慧型購物車，國立中央大學電機工程學系碩士論文，2010年6月。
[8] T. Yoshimi, M. Nishiyama, T. Sonoura, H. Nakamoto, S. Tokura, H. Sato, F. Ozaki, N. Matsuhira and H. Mizoguchi, “Development of a person following robot with vision based target detection,” in Proceedings of IEEE International Conference on Intelligent Robots and Systems, Beijing, China, October 2006, pp. 5286 - 5291.
[9] S. Nishimura, H. Takemura and H. Mizoguchi, “Development of attachable modules for robotizing daily items -person following shopping cart robot-,” in Proceedings of IEEE International Conference on Robotics and Biomimetics, Sanya, China, December 2007, pp. 1506 - 1511.
[10] H. Takemura, K. Ito and H. Mizoguchi, “Person following mobile robot under varying illumination based on distance and color information,” in Proceedings of 2007 IEEE International Conference on Robotics and Biomimetics, Sanya, China, December 2007, pp. 1500 - 1505.
[11] H. Takemura, N. Zentaro and H. Mizoguchi, “Development of vision based person following module for mobile robots in/out door environment,” in Proceedings of IEEE International Conference on Robotics and Biomimetics, China, December 2009, pp.1675-1680.
[12] M. Kristou, A. Ohya and S. Yuta, “Target person identification and following based on omnidirectional camera and LRF data fusion,” in Proceedings of 2011 RO-MAN 20th IEEE International Symposium on Robot and Human Interactive Communication ,Atlanta, GA, USA, July 31 - August 3, 2011.
[13] K. Itoh, T. Kikuchi, H. Takemura and H. Mizoguchi “Development of a person following mobile robot in complicated background by using distance and color information,” in Proceedings of Annual Conference on IEEE Industrial Electronics, November 6-10, 2006, pp. 3839-3844.
[14] W. Dai, A. Cuhadar and P. X. Liu “robot tracking using vision and laser sensors,” in Proceedings of 4th IEEE Conference on Automation Science and Engineering, USA, August 23-26, 2008, pp.169-174.
[15] C. Martin, E. Schaffernicht, A. Scheidig and H.-M. Gross, “Multi-modal sensor fusion using a probabilistic aggregation scheme for people detection and tracking,” Robotics and Autonomous Systems 54, vol. 54, pp. 721–728, September 2006.
[16] H. Kwon, Y. Yoon, J.B. Park and A.C. Kak, “Person tracking with a mobile robotusing two uncalibrated independently moving cameras,” in Proceedings of IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp.2877 - 2883.
[17] N. Hirai and H. Mizoguchi, “Visual tracking of human back and shoulder for person following robot,” in Proceedings of IEEE International Conference on Advanced Intelligent Mechatronics, 2003, pp. 527-532.
[18] K.H. Lee, D.E. Kim2, S. H. Lee, Y.H. Lee and T.Y. Kuc,“Visual servoing of 8-DOF arm for mobile robot platform,” in Proceedings of International Conference on Control Automation and Systems, Korea, October 2008, pp.2176-2180.
[19] H. Wang, Y. Ying, V.P. Dinh, B.Y. Xie, D.W. Wang, W. Wijiesoma, M. Adams and T. Yong, “Teaching a Robot to Operate a Lift,” in Proceedings of 10th International Conference on Control, Automation, Robotics and Vision, Vietnam, December 2008, pp. 297-301.
[20] E. Klingbeil, B. Carpenter, O. Russakovsky and A.Y. Ng, “Autonomous operation of novel elevators for robot navigation,” in Proceedings of 2010 IEEE International Conference on Robotics and Automation, USA, May 2010, pp.751-758.
[21] J.G. Kang, S.Y. An and S.Y. Oh, “Navigation Strategy for the Service Robot in the Elevator Environment,” in Proceedings of IEEE International Conference Robot Automatic, Barcelona, Seoul, Korea, October 2007, pp. 1902-1907.
[22] J. Miura, K. Iwase and Y. Shirai, “Interactive Teaching of a Mobile Robot,” in Proceedings of IEEE International Conference Robot Automatic, Barcelona, Spain, April 2005, pp. 3378-3383.
[23] S. Messelodi and C.M. Modena, “Context driven text segmentation and recognition,” Pattern Recognition Letters, vol. 17, pp. 47-56, 1996.
[24] 曾宣僑(王宗一教授指導)，具人機互動之服務型機器人，國立成功大學工程科學系碩士論文，2009年。
[25] J.Y. Baek and M.C. Lee, “A study on detecting elevator entrance door using stereo vision in multi floor environment,” in Proceedings of ICROS-SICE, Japan, August 2009, pp. 1-4.
[26] 徐啟勝(王文俊教授指導)，基於雙眼視覺之物件位置偵測及計算，國立中央大學電機工程學系碩士論文，2011年6月。
[27] The specification of Zig-100 module retrieved Jul. 10, 2012, from http://www.crustcrawler.com/electronics/zig/index.php
[28] R. C. Gonzalez and R. E. Woods, Digital Image Processing, Prentice Hall, 2002.

指導教授

王文俊(Wen-june Wang)

審核日期

2012-7-20

推文