清潔機器人之實現

The Implementation of a Cleaning Robot

羅展雄(Chan-Hsiung Lo)

指導教授 ： 張政元

中原大學/工學院/電機工程研究所/碩士(2011年)

https://doi.org/10.6840/cycu201100538

摘要

摘 要

以服務為導向的機器人相關產業一直是各國發展的重點目標之一，其中家用型吸塵器機器人就是一例。對於繁忙的現代人來說，利用它們來幫我們省下許多打掃時間，而且操作簡單方便使用，功能也相當多樣。而目前市面上的清潔器機器人普遍缺少物體辨識的功能，無法辨識前方是一面牆還是一個物體，容易造成清潔上的死角。

本論文針對此問題，利用視訊攝影機擷取室內環境影像與原本室內環境影像比較後，以得知障礙物的位置與大小，再利用影像處理除去多餘的雜訊後，交由電腦運算來判斷何種環境作為路徑規劃的依據，再透過紅外線無線傳輸告知清潔機器人要執行哪種清潔路徑，以執行室內清潔的工作，提高了障礙物周圍的清潔效能。

關鍵字

清潔機器人 ； 影像處理 ； 路徑規劃 ； 紅外線傳輸

並列摘要

Abstract

In recent years, a service-oriented robot-related industrial have been the focus of national development objectives, which is a household-type vacuum cleaner robot example. Busy modern people can utilize them to help us clean up to save the time. It's not only convenient and simple to use, but also the features are quite diverse. General in the market, the vacuum of cleaning robots are drawback is easily repeated cleaning route, and it do not know the front is a wall or an object, so it is hard to complete a clean environment.

In this thesis we focused on this problem, there are obstacles in the environment of space, the use of video cameras capture images indoor environment compared with the original image. After then we will know the obstacle's location and size. We are used the image processing to remove noise and used the computer calculate to decide which environment. The wireless transmission via infrared to tell cleaning robot to perform this kind of clean path to the implementation of clean indoor work, so that the cleaning around obstacles improved his performance.

並列關鍵字

Path planning ； Cleaning robot ； infrared ； Image processing

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