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研究生:葉英傑
研究生(外文):Ying-Jie Ye
論文名稱:居家保全機器人之即時影像處理技術之設計與實現
論文名稱(外文):Design and Implementation of a Real-Time Image Processing Based e-Home Robot
指導教授:李祖聖
指導教授(外文):Tzuu-Hseng S. Li
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系碩博士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2003
畢業學年度:91
語文別:中文
論文頁數:72
中文關鍵詞:居家保全機器人
外文關鍵詞:e-Home Robot
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本論文提出在室內環境中居家保全機器人之障礙物偵測與障礙物規避之即時影像處理方法,同時可透過網際網路監控居家保全機器人以了解家中狀況。整個系統不僅居家保全機器人可以自動導航巡邏而且可以透過VB技術將所探測的影像顯示在遠端使用者之監控網頁上。本論文主要應用影像處理技術,包括邊緣偵測、均值濾波、侵蝕及擴張等影像處理方法,找出環境中實際的障礙物,並求出障礙物相對於居家保全機器人的角度位置。在自動導航過程中,以自我定位的方式做路徑規劃,藉由編碼器回授得知居家保全機器人的位置及角度,並在巡邏過程中閃避環境中的障礙物避免碰撞,以完成室內巡邏的工作。另外,針對以遠端監控居家保全機器人之系統架構,包含VB技術與影像傳輸技術之設計實現均詳述之。最後,我們將藉由電腦模擬及實際實驗之結果,來驗證所提方法之效益及適用性。
This thesis proposes a real-time image processing approach for obstacle detection and avoidance while navigating an e-Home robot in an indoor environment. Moreover, we can monitor the home security condition by internet-based remote control. The whole system not only guides the robot to patrol automatically but also gets the security information and shows the images by VB techniques to the web browser of the remote client. The theorem and application of image processing technique are introduced, where the edge-detect, average filter, erosion and dilation methods. will be utilized to find out the obstacle and compute the angular position of the detected obstacle related to e-Home robot in the corridor. We adopt the self-localization method integrated by encoder data as the posture feedback during the autonomous navigation, and plan a collision-free path to complete the patrol routine. The remote control system developed in the networked vehicle including VB techniques and image transmission will be also described in detail. Finally, both simulations and the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes.
中文摘要Ⅰ
英文摘要Ⅱ
致謝Ⅲ
目錄Ⅳ
圖目錄Ⅵ
第一章 緒論1
1.1前言1
1.2機器人之發展概況2
1.3文獻回顧3
1.4研究動機與目的6
1.5論文規劃7
第二章 居家保全機器人之軟硬體架構8
2.1 硬體系統9
2.2 影像辨識系統11
2.3 驅動系統13
2.4 電力系統14
2.5 遠端監控系統15
2.6 軟體系統介紹15
2.7 本章總結17
第三章 居家保全機器人之影像處理與導航18
3.1 二值化影像分析19
3.2 線性濾波器21
3.3 標記(Labeling)23
3.4 邊緣偵測25
3.4.1 邊緣偵測演算法的基本步驟26
3.4.2 Sobel運算子27
3.5 數學型態學29
3.6 居家保全機器人之影像處理33
3.7 運動方程式(Kinematic Equation)42
3.8 本章總結45
第四章 遠端監控及實驗結果46
4.1 VB網頁程式設計46
4.2 實驗結果53
第五章 居家保全機器人之模擬與實現55
5.1 障礙物規避之路徑模擬55
5.2 居家保全機器人整體實驗結果60
5.3 本章總結65
第六章 結論與未來展望66
6.1 結論 66
6.2 未來展望67
參考文獻68
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