臺灣博碩士論文加值系統

本文提出利用彩色標誌辨識技術實現智慧型購物機器人之顧客引導服務功能的設計概念，其目的是希望藉由服務機器人來減少賣場人事成本支出，且同時幫助顧客在短暫時間內找到其所需之物品，提升賣場的服務品質。當智慧型購物機器人之彩色標誌辨識系統偵測到賣場走道前方的標誌時，會先辨認該標誌代表之涵義，確認目前機器人位於賣場走道何處，以決定其導航方向，以期協助消費者達到所欲到達之目標區。本文所提機器人之影像擷取裝置，係朝機器人之前方上仰來觀測懸於賣場上方之各種標誌，由於標誌可能受人群或物件遮住部分、或因相對方位產生大小、形狀及角度之形變，因此本文針對標誌的設計方式、彩色標誌變形之辨識方法、以及特徵值之判斷及辨識，均提出有效的解決之道。由實驗結果來看，智慧型購物機器人確實可以在複雜的賣場環境下，根據標誌進行顧客導引服務。

This thesis presents the design concepts on customer guidance services provided by an intelligent shopping service robot. It aims to reduce the cost of manpower, moreover, to assist the customer in finding and reaching her/his desired shopping area. As there is a sign is detected by color symbol recognition system of the robot, the system will make sure where the robot stays now, and then decide where the robot should lead the customer next, according to the meaning of the sign. Since the image of a sign might be incomplete or deformed because of people or some objects obstructing the view of the robot. That is, the thesis presents the specified designs on the signs, the color recognition methods for deformed symbols, and some efficient solutions of characteristic distinction and identification. From the experimental results, one can see that the proposed robot indeed performs guiding services by recognizing the signs in a complex shopping environment.

摘要 iv
英文摘要 v
目次 vii
圖目錄 ix
表目錄 xiii
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 4
第二章 智慧型購物機器人之系統架構 5
2.1 彩色標誌辨識系統 7
2.2 馬達驅動控制系統 11
2.2.1 馬達控制晶片 13
2.2.2 馬達驅動電路 15
2.3 電力系統 16
2.4 本章總結 18
第三章 智慧型購物機器人之顧客引導服務設計 19
3.1 辨識指標的建立 20
3.1.1 特徵的選去指標建立 20
3.1.2 賣場的環境指標建立 21
3.2 影像演算模組 23
3.2.1 設定顏色閥值抓取色塊 23
3.2.2 雜訊濾除 27
3.2.3 尋找特徵點 33
3.2.4 標誌辨識 43
3.3 路口判斷 47
3.4 路徑規劃 49
3.5導航控制 50
3.5.1 主要區域導航控制 51
3.5.2 中型區域導航控制 56
3.6 本章總結 62
第四章 智慧型購物機器人顧客引導控制之實現 63
4.1 實驗結果 63
4.1.1 靜態影像分析 63
4.1.2 動態影像分析 67
4.2 本章總結 71 21
第五章 結論與未來展望 72
5.1 結論 72
5.2 未來展望 72
參考文獻 74

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