臺灣博碩士論文加值系統

3C產品在居家生活中有許多的應用，例如掃地機器人替我們做清掃的動作。自動充電為掃地機器人的一項重要的功能。目前市面上的掃地機器人主要是利用老鼠走迷宮的演算法或無線通訊技術方式來達到室內定位與尋找充電座的位置。其先利用RFID、Wi-Fi、ZigBee等方式的無線導引掃地機器人找到充電座位置後，再利用紅外線對準充電孔進行充電。這些方法必須搭配特製的充電座與固定的擺放方式來完成充電座對準的動作。為了改善此一缺點，本篇論文提出一新的利用影像辨識方法來達到充電座尋找與對準的動作，以順利完成自動充電的工作。本篇論文的方法是先利用長方形的幾何影像辨識來找尋到充電座所在的位置，透過實驗方式，本篇論文再利用統計出的掃地機器人與長方形距離關係曲線圖，找尋到掃地機器人與充電座所在的距離。找到充電座後，再利用顏色的角度影像辨識方式來對準插孔以進行充電。經由一些不同場景的實驗，驗證本篇論文所提出的方法是可以讓掃地機器人正確的找到充電座位置與對準插孔進行充電。

關鍵字：掃地機器人、自動充電、影像辨識、室內定位、無線導引、角度影像辨識、幾何辨識。

3C products have many applications in the home life, such as cleaning robot. It can do the work of sweeping the floor for us. Automatical charging is an important function for a cleaning robot. Currently, cleaning robots on the market use the approaches of maze algorithms or wireless communication technology to achieve indoor positioning and looking position of power adaptor. In the first step, they use the way of RFID, Wi-Fi, ZigBee, or other forms of wireless to guide their cleaning robots finding the position of power adaptor, and then use an infrared technology to align their cleaning robots with charging holes for charging. These methods must be used with special power adaptors and put fixed ways of power adaptor to complete the charging alignment action. In order to improve this shortcoming, a new method using image recognition to achieve automatical looking position of power adaptor and aligned movement is proposed in this thesis. In the first step, the proposed method of the thesis is to use rectangular geometric image recognition to find the location of power adaptor. By using experimental methods and statistical analysis, a curve of cleaning robot distance relationship with a rectangular is derived in this thesis. It can be used to find the distance between cleaning robot and power adaptor. After finding the power adaptor, cleaning robot is aligned with the power adaptor by using imaging angle recognition. By using experiments for a number of different scenarios, it is shown that the proposed method can be used in cleaning robot to find the correct position of power adaptor and aligned power adaptor for charging.

Keywords: Cleaning Robot, Automatical Charging, Image Recognition, Indoor Positioning, Wireless Communication, Imaging Angle Recognition, Distance Curve Diagram, Geometric Image Recognition.

摘要 I
ABSTRACT II
目 錄 III
圖 錄 IV
第一章 緒論 1
1.1 研究動機 1
1.2 研究背景 1
1.3 論文貢獻 2
1.4 論文架構 3
第二章 影像分區 5
2.1 影像縮小 7
2.2 影像分區 8
2.3 邊緣偵測 13
2.3.1 膨脹 20
2.3.2 細線化演算法 21
第三章 充電座偵測 23
3.1 Hough直線偵測 26
3.2 長方形偵測 29
3.3 機器人與充電座的角度影像辨識 32
3.4 機器人與充電座的距離影像辨識 40
3.5 充電孔中心點影像辨識 46
第四章 實驗結果 48
第五章 結論 60
參考文獻 61

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