臺灣博碩士論文加值系統

本文提出以影像技術為基礎之智慧型賣場服務機器人的設計概念，透過賣場服務機器人的設計，可有效節省大型賣場之服務人力，同時亦可提高賣場資訊化服務的品質。於日常生活中，大型賣場均提供貼心的顧客服務，包括顧客導引服務、顧客溝通詢答服務及顧客陪伴服務。因此，本文針對賣場服務機器人之導引及追隨陪伴等服務功能，提出模糊導引控制器及模糊追隨控制器之設計。本文所提之機器人係以影像視覺架構取得導航所需之環境資訊，設計模糊控制器實現導引及追隨等動作。其中，在導引避障控制部份，由於機器人之視覺系統為固定俯角向路徑前方取像，因此一方面機器人以導引線資訊控制其行進方向；另一方面則於機器人前方路徑中規劃出「警戒區域」;當區域中出現物件（障礙物）時，系統將判斷出可通行方向來進行轉向避障。相反地，在追隨控制模式下，機器人則必須搜尋目標物件，並將該物件維持在此區域中。系統利用彩色影像切割方法，取得目標物件的特徵區塊，利用顏色辨識、尺寸濾波方法來過濾影像區塊，找尋符合目標顏色及大小的影像區塊，並計算出正確的目標物件之方位，再以模糊追隨控制器，來達成追隨物件的運動控制。此外，本文提出以RFID模組設計機器人的定位控制系統，機器人的位置可由RFID Tag之資訊立即取得，可供路徑規劃及目標導引之應用。由本文之實驗結果來看，可說明所提架構之可行性。

This thesis proposes design concepts of an intelligent vision-based shopping assistant robot. By using such robot, a shop or store could not only save human resources effectively but also improve the quality of information service. In general, a store always provides several kinds of nice services as guidance, communication, and accompanying. In this thesis, a fuzzy guiding controller and a fuzzy following controller are proposed for the guidance and accompanying services respectively. Since the intelligent vision-based shopping assistant robot utilizes continuous images from the fixed angle of depression to determine the environmental information of navigation for guiding and accompanying services. For collision-free controls, the robot on one hand moves based on the information of guiding lines, and on the other hand, a “warning area” planed in the passage is used to check whether obstacle avoidance controls should be started. The system adopts color recognition and size filter methods to search for proper eigenblocks and their relative locations. In which, eigenblocks maybe the image blocks of a customer’s shoes or some specified objects. Sending such information to the fuzzy following controller, the robot will accomplish the motion control of following the specified customer. Besides, passive RFID modules and tags are used to construct the robotic localization system. The experimental results show the feasibility of proposed robotic systems in this thesis.

摘要 iv
英文摘要 v
誌謝 vi
目次 vii
圖目錄 ix
表目錄 xi
第一章 緒論 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 5
第二章 智慧型賣場服務機器人之系統架構 6
2.1 控制中樞及影像處理系統 7
2.1.1 賣場服務機器人之控制中樞 7
2.1.2 MIL 8.0影像處理開發工具 8
2.2 智慧型賣場服務機器人之機械結構 10
2.3 直流伺服馬達控制系統 12
2.3.1 FPGA發展板 13
2.3.2 NIOS II處理器 14
2.3.3 NIOS II嵌入式處理器發展工具 15
2.4 NIOS II CPU規劃設計與實現 16
2.5 驅動伺服馬達電路設計與實現 17
2.6 賣場服務機器人之感測系統 20
2.6.1 RFID定位系統 20
2.7 賣場服務機器人之電源系統 25
2.8 本章總結 27

第三章 智慧型賣場服務機器人之工作原理 28
3.1 設定警戒區域 29
3.2 影像前處理 32
3.2.1 影像平滑處理 32
3.2.2 形態學影像處理 34
3.2.2.1 膨脹 35
3.2.2.2 侵蝕 36
3.2.3 色彩空間轉換 40
3.2.4 影像前處理流程 42
3.3 賣場服務機器人之任務規劃 46
3.4 顧客導引避障控制 49
3.4.1 模糊導引控制器 49
3.4.2 視覺架構之避障法則 51
3.5 顧客追隨控制 54
3.5.1 顧客陪伴模式 54
3.5.2 模糊追隨控制器 55
3.6 賣場服務機器人之RFID定位系統 58
3.7 路口偵測 61
3.8 目標區判斷之運動控制 63
3.9 本章總結 64
第四章 實驗結果 65
4.1 顧客導引實驗 65
4.2 避障實驗 68
4.2.1 靜態避障實驗 68
4.2.2 動態避障實驗 69
4.3 顧客追隨實驗 72
4.4 RFID定位系統實驗 74
4.5 賣場服務機器人之路口轉彎實驗 77
4.6 目標區判斷之運動控制實驗 79
4.7 本章總結 81

第五章 結論與未來展望 82
5.1 結論 82
5.2 未來展望 83
參考文獻 84

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