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研究生:李昆翰
研究生(外文):Kaung-Hang Lee
論文名稱:戶外清潔機器人之研製
論文名稱(外文):The Design of Outdoor Clean Robot
指導教授:周榮華周榮華引用關係
指導教授(外文):Jung-Hua Chou
學位類別:碩士
校院名稱:國立成功大學
系所名稱:土木工程學系碩博士班
學門:工程學門
學類:土木工程學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:中文
論文頁數:75
中文關鍵詞:DSP影像感測器清潔機器人
外文關鍵詞:DSPImage SensorCleaning robot
相關次數:
  • 被引用被引用:3
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本論文主要在於發展一台戶外清潔機器人,其機構設計針對戶外沙地及草地地形,對清潔區域內一般落葉進行清掃工作。機器人之控制核心包含圖形介面控制核心PC (AUSUS R2H UMPC)以及韌體控制核心TMS320LF2407A DSP (Digital Signal Processor),其中,PC主要處理人機介面、自動導航與影像處理;而TMS320LF2407A DSP則著重負責馬達控制、雙重感測器平台轉動、超音波感測器之訊號處理、傾倒閘門控制,以及透過RS232與PC進行即時溝通。本文清潔機器人利用影像感測器,進行偵測環境中清潔區域資訊,並融合超音波感測器所獲得之障礙物資訊後轉成格點地圖,最後以牛耕田方式作為完成全域覆蓋路徑規劃,以完成自動導航與環境清潔工作。而在執行完清潔的工作後,系統利用影像感測器進行傾倒垃圾標誌偵測,並自動執行傾倒垃圾的任務。
In this thesis, a novel clean robot is developed for cleaning the general leaves on the cleaning-region, particularly in outdoor environments including both sandlot and lawn terrains. The control core of the robot is composed of ASUS R2H UMPC (PC) and TMSLF2407A Digital Signal Processor (DSP). A graphical user interface is built on PC, which also dominated the clean robot’s auto-navigation and image processing. Besides, hardware control of driven-motor, double-sensors module and trash-gate switch, and signal processing of ultrasonic sensors are implemented on DSP. The way of real-time communication between PC and DSP is via RS-232.
The robot merges the measuring data both from image sensor which is detecting the surrounding information, and ultrasonic sensor for 3D obstacle position. Then according to Boustrophedon path planning, its region-cleaning job could be finished by CCPP (Complete Coverage Path Planning) during robot auto-navigation. After the cleaning tasks, the robot would detect the trash-dumping mark through the image sensor and then automatically dump trash on the preset place.
目錄
第 1 章 序論 1
1.1 前言 1
1.2 研究動機 1
1.3 文獻探討 2
1.3.1 感測器文獻回顧 2
1.3.2 路經規劃文獻回顧 3
1.3.3 清潔機器人文獻回顧 4
1.4 研究方法 5
1.5 論文架構 5
第 2 章 戶外清潔機器人系統簡介 6
2.1 清潔機器人硬體設計 6
2.1.1 清潔機器人硬體架構 7
2.1.2 驅動系統設計 10
2.1.3 清潔機構設計 11
2.1.4 感測器旋轉平台與控制核心平台模組 14
2.2 機器人韌體介紹 15
2.2.1 機器人韌體控制核心 15
2.2.2 車體驅動馬達規格 16
2.2.3 車體馬達驅動電路 18
2.2.4 其他馬達規格 20
2.2.5 其他馬達驅動電路 21
2.3 超音波感測器 22
2.3.1 超音波物理特性 23
2.3.2 超音波距離量測法 25
2.4 軟體介面 28
第 3 章 軟體系統的介紹與原理 31
3.1 系統流程 31
3.2 清潔區塊偵測原理 33
3.2.1 影像光源補償 34
3.2.2 Color Gaussian filter 34
3.2.3 形態學開運算 34
3.2.4 連接區域標定 35
3.2.5 Convex hull 35
3.2.6 Image to 2D map 36
3.2.7 Fuzzy可靠性判斷 39
3.3 牛耕田路徑規劃 42
3.4 垃圾自動定點傾倒 44
第 4 章 實驗結果與討論 46
4.1 超音波感測器數據量測實驗 46
4.2 以影像量測2D Map長度與寬度實驗 48
4.3 PID控制馬達轉速實驗 51
4.4 沙地區域清潔實驗結果 52
4.5 系統流程實驗 59
第 5 章 結論與未來展望 72
5.1 結論 72
5.2 未來展望 72
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