利用影像追蹤技術的智慧型機器人瞄準系統之設計

Intelligent Robotic Aiming System Design with Image Tracking Technique

王謙之(Chien-Chih Wang)

指導教授 ： 林容杉

國立暨南國際大學/科技學院/電機工程學系/碩士(2023年)

https://doi.org/10.6837/ncnu202300011

摘要

本論文研究的智慧型瞄準機器手臂系統，可以整合Arduino以及Python兩種不同的語言來達到控制目的，本論文的控制目的為使用電腦視覺系統在雜亂的背景中尋找到目標色塊，並且校正雙軸的機械手臂進而達到瞄準的目的，具有全能力的自動砲台通常由軍火公司設計及組裝，因此我製作一個等比縮小的概念模型，並結合網路攝影機擔任視覺的模組，並用雷射切割木板組裝成縮小模型。
瞄準的方式我使用了模糊控制的方式來達成雙軸馬達的調整，此控制方式淺顯易懂，用於模擬短距離的瞄準已經十分足夠，並且也易於說明系統的概念。
關鍵字：電腦視覺系統，機械手臂，自動砲台

關鍵字

電腦視覺系統 ； 機械手臂 ； 自動砲台

並列摘要

The intelligent robotic aiming system proposed in this thesis can integrate two different program languages of Arduino and Python to achieve the control purpose. The control objective of this thesis is to use the computer vision tracking to find the target in the complicated background, and manipulate the two-axis robotic arm to achieve the purpose of aiming. Therefore, a scaled-down platform was built up for practical experiments.
We use an image processing method to process the picture, in order to accurately aim and hit our target..For the aiming method, the fuzzy control method is employed to achieve the motor manipulation of the two-axis robot arms. This control method is easy to understand, and it is enough for simulating short-distance aiming. Finally, We will combine the above functions and software, and at the end there will be a few experiments to summarize.
Keywords: computer vision, robotic arm, intelligent aiming system

並列關鍵字

computer vision ； robotic arm ； intelligent aiming system

參考文獻

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