臺灣博碩士論文加值系統

本論文之研究目的是以樹莓派實現即時影像追蹤自走車，並具智慧型手機遙控及監視功能。首先以自走車上的攝影機拍攝影像，經由 OPENCV 進行影像處理，透過顏色篩選及形狀重心運算技術，可得知自走車到目標物的距離及角度。應用模糊控制、PID控制與模糊PID控制三種控制方法，找出自走車進行追蹤任務的控制訊號，並在追蹤時可以傳送即時影像給使用者監控，最後由實驗結果驗證此方法之有效性。
在遙控方面，本論文應用Android系統之智慧型手機作為遙控器，結合樹莓派控制板及Wi-Fi無線傳輸，實現遠端遙控功能。而樹莓派上裝有攝影模組，利用樹莓派建立了即時視頻流媒體伺服器傳送拍攝影像，令使用者可同時遙控與監控。

The purpose of this thesis is to implement an autonomous vehicle which is able to track a moving object. The autonomous vehicle can also be remotely controlled and monitored by smartphone. A camera module is placed on the car to capture images, which for image processing with OPENCV. Through color screening and shape centering technique, the distance and the angle between a car and a target object are estimated. Three control methods are FUZZY controller, PID controller, and FUZZY PID controller applied to generate tracking signal for the robot car to perform intercepting maneuver, and the car can transmit real-time video for users to monitor. Finally, experiment results verify the proposed methods.
In the case of remote control, the smartphone with Android system is used as the remote controller. The thesis create remote control system based on Raspberry PI and Wi-Fi. A camera module is placed on the Raspberry Pi, the user can remotely control and monitor based on Raspberry Pi building a live video streaming server.

第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 1
1.3 研究動機與目的 2
1.4 論文架構 2
第二章 系統之軟硬體架構 3
2.1 系統架構 3
2.2樹莓派開發板 4
2.2.1樹莓派硬體規格 4
2.2.2樹莓派GPIO接腳 6
2.3影像處理系統 7
2.3.1樹莓派照相機模組 7
2.3.2照相機模組設定 8
2.3.3影像處理介面 8
2.4無線傳輸系統 9
2.5 結構與動力驅動系統 10
2.5.1 車體結構 10
2.5.2 直流馬達 10
2.5.3 L298N馬達驅動板 11
2.5.4 PWM脈波寬度調變 12
2.6 遠端遙控系統 13
2.6.1 Android 13
2.6.2 Android系統架構 13
2.6.3 Android開發平台(Android Studio) 14
2.6.4 Android Studio圖形用戶界面 15
第三章 影像處理 17
3.1 內容簡介 17
3.2影像擷取 17
3.3物體顏色偵測 18
3.4影像濾波 19
3.5影像侵蝕與膨脹 21
3.6重心座標與面積判斷 22
3.7影像傳送 23
第四章自走車控制器設計與實驗結果 25
4.1內容簡介 25
4.2 模糊控制器 25
4.2.1模糊化(Fuzzifier) 25
4.2.2模糊規則庫(Fuzzy Rule Base) 28
4.2.3模糊推論引擎(Fuzzy Interface engine) 28
4.2.4解模糊化(Defuzzifier) 29
4.3 PID控制器 30
4.4模糊PID控制器 30
4.4.1前後模糊PD控制器設計 31
4.4.2左右模糊PD控制器設計 33
4.5實驗結果 35
第五章ANDROID遙控 43
5.1 SOCKET簡介 43
5.2 ANDROID程式設計 44
5.3樹莓派端程式設計 46
5.4實驗結果 46
第六章 結論與未來展望 49
6.1 結論 49
6.2 未來展望 49

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