使用數位相機及影像模糊語意表達法執行自主式助行器路徑偵測

在近幾年來，由於社會上醫療照護人力逐漸的短缺，使得自主式輔助器材在居家照護領域的研究越來越受到重視。因此，以此為出發點，設計一台可替代人力的自主式輔助器實在有其必要性。在此，本研究則是專注在老人復健使用的自主式行動助行器方向的設計，其目的在於設計出一種兼具輕便、快速、低成本以及高可靠度之路徑偵測設備。在本研究中，其利用數位相機偵測室內牆邊之踢腳板，以作為老人助行器的行駛路線。為了要達到此目的，系統設計必須具備色彩偵測、邊緣偵測、圖形辨識以及偏向偵測等功能。並且，為了降低系統負重，系統需要實現於低功率、低體積的單晶片上，可是還必須同時兼具高速影像處理的能力。除了上述的設計要求以外，本系統還特地採用了現場可程式邏輯閘陣列(Field Programmable Gate Array, FPGA)晶片以及低價、高解析度之數位相機以降低開發成本。最後，依據上述之系統要求，本研究採用影像模糊語意表達法(Semantic-based Vague Image Representation, SVIR)作為踢腳板之特徵擷取功能。相較於傳統基於個人電腦之影像處理演算法，SVIR具有低運算量之優點，因此特別適用於低功率以及低體積之晶片式設計。由本論文之實驗結果顯示，助行器之方向矯正解析度為0.5度，以及量測之角度誤差約為1度，此結果不但滿足老人主動式助行器之實際操作需求，新式之設計概念亦可成為未來機器人路徑追蹤之設計範列。

關鍵字

現場可程式邏輯閘陣列；影像模糊語意表達法；圖形辨識；自主式助行器；路徑偵測

並列摘要

In these years, due to the shortage of medical resources, the research of autonomous serving facilities becomes a main stream in home care systems. Of this issue, designing an autonomous walking aid robot to replace the load of manpower is urgent. Here this research focuses on the goal of elder’s rehabilitation with walking aids robot then designs a portable, real-time, low-cost, and reliable path detection system. The detecting mechanism of this project is based on recognizing the baseboard with digital camera in indoor environment. For this purpose, entire system is implemented on single chip with the functions of color detection, edge detection, pattern recognition, and steering angle determination in real-time. Moreover, lower developing cost is achieved by using Field-programmable Gate Array (FPGA) for prototyping with low-cost and high resolution camera. Finally, based on the design criteria, this research also particularly adopts the algorithm of Semantic-based Vague Image Representation (SVIR) for feature extraction of baseboard. Compared to the traditional image processing which is based on the designs with PCs, SVIR inherits the advantages of low computing load on chip and especially suitable for design in low-power and minimal dimension. According to the experimental results of this thesis, the resolution of steering angle is 〖0.5〗^° with calibration tolerance for 1^°. Novel design is not only satisfying the design criteria for elders’ autonomous walking aids robot but also a paradigm for robotic path tracking in the future.

並列關鍵字

FPGA ； pattern recognition ； SVIR ； autonomous walking aid robot ； path detection

參考文獻

Batchelor, B.G., Machine Vision Handbook, USA: Springer Press, 2012

Evans, J.M., Chang, T., Hong, T.H., Bostelman, R. and Bunch, W.R., Three Dimensional Data Capture in Indoor Environments for Autonomous Navigation, USA: US Department of Commerce, Technology Administration, National Institute of Standards and Technolog, 2002.

Fontanelli, D., Palopoli, L., and Rizano, T., “High speed robotics with low cost

environmental representations with an omnidirectional camera,” IEEE Trans. on Robotics and Automation, Vol. 16, issue 6, pp. 890-898, 2002.

Guizzo, E., “Three Engineers, Hundreds of Robots, One Warehouse,” IEEE on pectrum Vol. 45, issue 7, pp. 26-37, 2008.

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使用數位相機及影像模糊語意表達法執行自主式助行器路徑偵測

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