具遠端控制服務型移動機器人之研究

A Study on a Service Mobile Robot with Remote Control

謝奇均(Chi-Chun Hsieh)

指導教授 ： 陳冠宇

中原大學/工學院/機械工程研究所/碩士(2011年)

https://doi.org/10.6840/cycu201100589

摘要

本文的研究目的為發展一部可以在室內環境中運作的服務型移動機器人，其主要功能包括：遠端呼叫與監控、避障及視覺伺服。使用Pioneer 3-DX移動平台搭配環境地圖資訊，讓機器人可以準確移動；使用聲納感測器讓機器人在移動過程中能閃避障礙物，保護自身與環境中的行人安全；使用立體視覺伺服系統使機器人能計算自身與目標物的相對距離以進行定位；使用無線網路搭配遠端桌面協定將機器人端的影像即時傳送至遠端電腦，提供使用者監控及下達命令的功能。本文設計4個實驗：視覺定位、建立環境地圖、避障及整合實驗，先逐一測試各部系統的功能，最後進行整合。視覺定位實驗是對Pioneer 3-DX移動平台於行進過程或環境因素造成的誤差進行分析，並與立體視覺方法比較；建立環境地圖實驗是透過聲納感測器使機器人自動建立環境地圖，以彌補機器人必須在環境資訊已知的情況下才能執行任務的缺點；避障實驗是當機器人於執行任務過程中遇到障礙物時，能藉由聲納感測器估算障礙物之寬度，以利閃避障礙物；整合實驗則整合所有功能，以測試機器人能否完成任務。實驗結果顯示本文所發展之服務型移動機器人能夠經由遠端呼叫，成功完成指派的任務。

關鍵字

避障 ； 遠端監控 ； 服務型移動機器人 ； 建立環境地圖 ； 立體視覺伺服

並列摘要

The subject of this dissertation is to design and develop a service mobile robot with remote control in indoor environments. The major capabilities of the robot include remote monitoring and control, obstacle avoidance, and visual servoing. It can move accurately in the condition itself by Pioneer 3-DX moving platform and the information of the map. It can avoid obstacle for protecting people and itself by sonar sensors. It can fix the position itself by CCD cameras and using stereo vision to calculate the distance between it and the target. User can send command to the mobile robot and get the real-time images from mobile robot by remote desktop protocol and WiFi. There are four experiments in this dissertation: positioning by machine vision, environment map building, obstacle avoidance, and integration of all functions. Tests each system’s functions one by one, and then carries the systems. In the experiment of positioning by machine vision, show that the error produced by Pioneer 3-DX in the moving process, and the contrast between the error and stereo vision error. In the experiment of map building, builds the map automatically by the mobile robot to redeem the fault that it can only work in the place with map information. In the experiment of obstacle avoidance, mobile robot can estimate the width of obstacle, and then avoid the obstacle by sonar sensors. Finally, the last experiment integrates all functions to test the mobile robot can complete the mission or not. The experiment results show that the mobile robot can be controlled by remote, and then complete the mission user sends.

並列關鍵字

remote monitoring and control ； service mobile robot ； environment map building. ； obstacle avoidance ； stereo visual servoing

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