以模糊控制為基礎之智慧型輪椅之自動充電實現

The Implementation of Automatic Charge for Intelligent Wheelchair Based on Fuzzy Control

陳琮為(Tsung-Wei Chen)

指導教授 ： 蔡舜宏

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2014年)

https://doi.org/10.6841/NTUT.2014.00775

摘要

本論文提出一個針對智慧型輪椅的控制及自動充電方法。在輪椅控制方面，基於電動輪椅本身硬體架構上，利用Raspberry Pi為開發平台，對輪椅控制器以控制輪椅的電壓以達到輪椅控制的目的。在自動充電的部份，利用顏色識別以及連通物件方法，可從影像中找到目標物的重心以得到輪椅的位置以及充電位置的關係。並利用超音波感測器和電子羅盤的資訊，以獲得輪椅和充電位置的相關角度以及距離。且利用模糊控制器控制輪椅，使輪椅的角度以及移動的距離能更加精確被控制。讓輪椅可以自行移動到充電位置。由實驗的結果展現出我們提出的方法和所開發的系統及提出的控制方法是有效和可行的。

關鍵字

模糊控制 ； 影像處理 ； 自動充電

並列摘要

In this thesis, an automatic charging method for intelligent wheelchair is developed. For controlling of wheelchair, based on the primal hardware architecture, the Raspberry Pi embedded platform is adopted to control the voltage of the wheelchair. By examining the automatic charging of wheelchair, the color mask and connected component labeling methods are adopted to find the center of object. Utilizing the relation between the wheelchair position and the target center of object, the wheelchair can move to the charging position automatically. Moreover, the fuzzy controller is adopted to control the wheelchair for adjusting the angle and speed of wheelchair more precisely. The experiment results show that the developed system and the proposed control method are valid and feasibility.

並列關鍵字

Fuzzy Controller ； Image Processing ； Automatic Charging

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