具視覺避障之智慧型吸塵機器人研究

智慧型機器人於生活中的應用日益普及，特別在吸塵機器人中以美國iRobot設計的Roomba成效最為顯著，可以規劃吸塵路徑、透過感測器避開障礙物等功能。因此，本研究主要使用Altera DE2-70多媒體開發平台，搭配馬達移動系統與吸塵器開關控制，完成具有辨識能力之智慧型吸塵機器人。在辨識系統部分，透過DE2-70上的視訊鏡頭擷取影像，再撰寫程式判斷是否有障礙物進而避開它，為能夠快速處理影像，將演算法以FPGA實現，達到辨識物體外觀及計算物體與吸塵機器人之距離；在吸塵以及行進部分由DE2控制馬達的啟動並搭配繼電器開關實現吸塵能力。本研究能夠具有影像處理辨識之功能、將不同於市面上感應型打掃機器人，藉由閃避障礙物更能有效達成清潔打掃之目的。

關鍵字

DE2-70 ；影像辨識；吸塵機器人

並列摘要

Intelligent Robots are widely used in our daily life. Especially, Roomba designed by iRobot Cooperation has the most outstanding functions as a vacuum cleaning robot. It was designed to vacuum the room with specific paths and avoiding the barriers and obstacles with different sensors. Therefore, the Altera DE2-70 Multimedia development platform, motor mobile system and vacuum mechanism are integrated together in this work to fulfill the intelligent recognition system as a vacuum cleaning robot. For the image recognition, the images through DE2-70 CCD camera were obtained and the obstacles in front of the vacuum cleaning robot were detected by the proposed algorithm. In order to process the images efficiently, the robot can recognize the boundary of object by the algorithm implemented in FPGA. Therefore, the robot designed with the ability of image recognition is different from those with sensor systems in market. The robot can clean the room with the designed route and avoid hitting the obstacles with intelligent image recognition algorithm.

並列關鍵字

DE2-70 ； image recognition ； vacuum cleaning robot

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