臺灣博碩士論文加值系統

視障朋友們長期處於黑暗的世界中，無法以視覺來體認這五彩繽紛的世界，必須依靠聽覺、觸覺、嗅覺等來感受他所生存的空間。缺乏影像的資訊，使他面臨外在環境以及障礙空間的挑戰，其危險性比一般正常人高出數百倍。尤其在戶外活動時祇能藉耳朵與柺杖來探索週遭的環境，再憑模糊的印象來推測所在的位置。為了讓盲人安心地踏出每一個腳步，本文的構想是在導盲磚的背面貼上無線射頻辨識系統(RFID)的標籤(Tag)，並且將RFID讀卡機、超音波感測器以及語音晶片結合在一台輪型機器人上，前端並以一根柺杖作聯結。一旦盲人接近導盲磚，RFID將讀取Tag 上的訊息透過語音播報系統以聲音告知視障者行走的方向與周遭環境之訊息。此外，架設在輪型機器人上的CMOS影像感測器用來偵測導盲磚上的黑色標線，導引盲人在兩條標線之間前進或左右轉。最後，我們在輪型機器人上加裝鋰電池充電控制單元，透過一顆ATtiny25微控制器對電池本體進行充、放電控制及目前電池容量的監控。本系統的開發將提供視障朋友環境資訊的取得，道路指引功能以及附近的交通資訊，透過豐富的空間環境訊息，使得盲人具有走出戶外的信心與勇氣。

Visually impaired people have long been facing the dark space. They can’t realize the colorful world with the vision, hence they have to rely on the tactile, the smelling and hearing to feel and experience the environment. Lack of the video information, the blind may take action according to wrong decision-making and get in trouble when facing the challenge of outer circumstances and obstacles. It is very difficult for a blind pedestrian to accurately estimate the position and orientation by a walking stick or a guide dog. For this purpose, an intelligent wheeled mobile robot with guidance is designed to help blind pedestrians to move safely in this paper. The blind guiding systems, which integrate CMOS image sensor, radio frequency identification system (RFID), voice system, battery charger system and crash avoidance techniques, serve those outdoor blind pedestrians among obstacles and other hazards. The RF reader will be installed at the mobile robot. The RF tags will be fixed at the guide tile. Once the mobile robot come near the specificed guide tile, the voice system will be actuated to information included in guide tile or the braille system of facilities. In addition, the CMOS image sensor mounted on the mobile robot to detect the black markings on lead tiles, guide the blide to forward or turn around between two standard lines. Finally, the lithium battery charger system is designed for the guidance mobile robot, a microcontroller ATting25 is applied to supervise the capacity of battery during charging.

中文摘要........................................................................................................................i
英文摘要........................................................................................................................ii
目 次...........................................................................................................................iii
圖目錄...........................................................................................................................vi
表目錄............................................................................................................................x
第一章 緒論..............................................................................................................1
第一節 研究動機...............................................................................................1
第二節 文獻回顧..............................................................................................2
第三節 論文架構…............................................................................................7
第二章 導盲輪型機器人系統架構…......................................................................8
第一節 伺服馬達控制單元..............................................................................11
壹、伺服機馬達之規格..............................................................................11
貳、伺服機馬達之控制信號......................................................................12
參、伺服機轉速與暫存器設定之關係......................................................12
肆、伺服機馬達之訊號測量......................................................................13
伍、伺服機轉速與暫存器設定之關係......................................................15
第二節 超音波感測器.................................................................................16
壹、超音波感測器之規格..........................................................................16
貳、超音波感測器之操作流程................................................................. 17
第三節 無線射頻辨識系統…………….........................................................19
壹、RFID的基本架構.............................................................................19
貳、RFID工作原理................................................................................. 20
第四節 CMOS影像感測器…....................................................................24
壹、CMOS 影像感測器簡介....................................................................24
貳、影像存取外部記憶體...........................................................................27
參、影像前置處理……………...................................................................28
第五節 語晶片資訊處理……….………....……….….…...............................31
壹、語音晶片之規格及性能.......................................................................31
貳、語音晶片之接腳功能...........................................................................32
參、語音晶片之指令碼說明.......................................................................33
肆、語音晶片ISD4004之接線圖................................................................34
伍、語音晶片之動作說明..........................................................................35
第六節 液晶顯示模組…….…….......................................................................36
第七節 電池充電器……..……………….......…………...................................37第三章 輪型機器人運動模型之推導.................................................................40
第一節 輪型機器人幾何約束..........................................................................41
第二節 輪型機器人非完整約束分析………………...................................43
第三節 運動方程式之推導…..........................................................................44
第四章CMOS 影像尋線之策略..........................................................................46
第一節 影像與二維平面坐標......................................................................46
第二節 平面坐標與液晶顯示轉換..................................................................48
第三節 資料擬合演算法................................................................................50
第四節 資料擬合演算法之應用......................................................................52
第五章 電池充電器之設計....................................................................................59
第一節 電池充電系統...................................................................................59
第二節 電池充電系統的架構.........................................................................62
第三節 Buck 變換開關電路原理...................................................................64
第四節 電池電壓ADC測量電路....................................................................66
壹、電池電壓與充電電壓..........................................................................67
貳、充電電流值..........................................................................................68
第六章 實驗結果與討論……………....................................................................70
第一節 伺服馬達控制實驗結果......................................................................70
第二節 超音波感測器實驗結果......................................................................71
第三節 語音晶片功能測試..............................................................................73
第四節 無線射頻辨識系統測試......................................................................74
第五節 電池充電器功能測試..........................................................................77
壹、充電功能測試......................................................................................80
貳、充電功能測試......................................................................................85
第六節 CMOS影像感測器驗證測試..............................................................89
第七節 影像前置處理驗證結果......................................................................94
壹、取得適當的影像及大小......................................................................94
貳、影像前置處理及平面座標轉換顯示..................................................96
參、平面坐標轉換之移動角度................................................................98
第八節 CMOS影像尋線策略實驗結果........................................................101
第七章 結論與未來展望......................................................................................107
參考文獻..................................................................................................................110
作者簡介..................................................................................................................113

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