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研究生:鄭建邦
研究生(外文):Chien-Pang Cheng
論文名稱:智慧型購物機器人之設計與研製
論文名稱(外文):Design and Implementation of an Intelligent Shopping Service Robot
指導教授:謝銘原謝銘原引用關係
指導教授(外文):Yuan-Ming Shieh
學位類別:碩士
校院名稱:南台科技大學
系所名稱:電機工程系
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:2004
畢業學年度:92
語文別:中文
論文頁數:58
中文關鍵詞:智慧型購物機器人自走型機器人影像視覺系統導航控制系統障礙物規避
外文關鍵詞:Intelligent Shopping Service RobotMobile RobotImage Vision SystemNavigation ControlObstacle Avoidance
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本文提出智慧型購物機器人的設計理念。智慧型購物機器人係整合自走型機器人的機構設計、導航控制、影像視覺、網路視訊、智慧型資訊管理決策等技術,配合目前發展已漸趨成熟的賣場宅配服務及網路交易服務,可實現遠距購物之理想。購物機器人的系統架構,可分為機械結構、感測系統、控制中樞、驅動系統及電源部分。其中感測系統,包括影像視覺裝置、超音波感測裝置及近接感測器,用來提供導航控制所需的環境資訊。導航控制方面,將分成全域導航及區域導航兩部分來設計:全域導航部分,係根據購物決策系統進行全域之路徑規劃;區域導航部分,一方面由影像及超音波感測器取得障礙物資訊,經由模糊避障導航控制器以平滑的路徑來避開障礙物,另一方面,利用消失點的觀念,設計一模糊姿態導引控制器來導引機器人,避免其在賣場環境中漫無目的的航行。本研究已實際完成一個智慧型購物機器人的雛形,其具備自走、自動判斷規避障礙物、依命令到達指定目的地及網路遠距監視等功能。最後,我們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。
The thesis presents the idea of designing an intelligent shopping service robot (ISSR). The ISSR is framed by integrating servo control, image processing, vision servo, wireless communication, remote internet control and intelligent information decision making control techniques. Besides, involving parcel express services and online secure exchange services as auxiliaries of the ISSR, the ISSR system will realize the dream of shopping in faraway places. In this thesis, the basic construction design of the ISSR, which contains the mechanism, servo-movement, image devices, ultrasonic sensor devices, transducers and their modules is proposed. The navigation strategy of the robot merges two distinct situations. The global navigation control is to plan the travel path according to the tasks assigned to the ISSR. The local navigation control consists of two stages, the obstacle avoidance stage and the guiding control stage. The obstacle avoidance stage is based on visual feedback and ultrasonic sensory information to detect obstacles. In which, an integrated fuzzy controller is designed to offer a smoother navigation. The guiding control stage is aimed to avoid the robot travelling adrift in the supermarket. The ISSR has been implemented with numerous functions such that autonomous mobile, obstacle avoidance, and remote vision. Finally, simulation and experiment results demonstrate the feasibility and effectiveness of the proposed schemes.
摘要 iv
英文摘要 v
致謝 vi
目次 vii
圖目錄 ix
表目錄 xiii
第一章 緖論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 文獻探討 3
1.4 論文架構 6
第二章 購物機器人之系統架構 8
2.1 機械結構 9
2.2 感測系統 10
2.2.1 影像感測裝置 10
2.2.2 超音波感測裝置 12
2.2.3 近接感測器 13
2.3 控制中樞 14
2.4 驅動系統 16
2.5 電源系統 17
2.6 本章總結 18
第三章 購物機器人之導航控制系統 19
3.1 全域導航控制 19
3.1.1 導航路徑規劃 19
3.1.2 路口判斷 22
3.2 區域導航控制 23
3.2.1 轉向輸出角的估測 23
3.2.2 障礙物之距離量測 26
3.2.3 利用消失點進行姿態導引 28
3.3 模糊導航控制器 31
3.3.1 避障導航控制 31
3.3.2 姿態導引控制 35
3.4 本章總結 37
第四章 導航控制系統之模擬與實現 38
4.1 導航控制系統之模擬 38
4.2 導航控制系統之實現 44
4.2.1 路口判斷實驗 44
4.2.2 避障導航控制實驗 46
4.2.3 姿態導引控制實驗 48
4.3 遠距監視系統之構想與實現 50
4.4 本章總結 53
第五章 結論與未來展望 54
5.1 結論 54
5.2 未來展望 54
參考文獻 56
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