具室內節能與環境巡邏功能之輪型機器人

邱吉賢(Chi-hsien Chiu)

指導教授 ： 王文俊

國立中央大學/資訊電機學院/電機工程學系/碩士(2014年)

摘要

本論文提出以輪型機器人為基礎的室內節能與環境安全功能，期望將這兩個功能應用在辦公室、學校或是家庭等室內空間，達到室內節能省電及安全維護。在室內節能方面，透過Kinect感測器的深度資訊以及紅外線資訊達成輪型機器人的自主避障與室內定位的功能，並應用骨架追蹤偵測人員，主控電腦端會根據輪型機器人的偵測結果關閉無人區域的電器，並將室內區域的用電情形儲存於主控電腦端之網路資料庫中，供使用者了解。在環境安全方面，透過Kinect深度資訊和聲音偵測，機器人可以在黑暗中偵測環境中是否有入侵者，若偵測到入侵者，就會擷取入侵者影像並通知使用者，讓使用者在第一時間得到入侵者的資訊。經多次實驗證實，本論文之輪型機器人藉由靈活地巡邏室內空間，以及在深夜成

關鍵字

輪型機器人 ； 自主避障 ； 人員偵測 ； 室內定位

並列摘要

This study proposes a system using a mobile robot for indoor energy-saving and safety navigation functions. The two functions are applied to fulfill the energy-saving function and safety maintenance indoors, such as office, school, and home. For the first function, the depth data and IR data captured from Kinect sensor are used to accomplish the obstacle avoidance and indoor localization of the mobile robot, and skeleton tracking is used to detect human. If there is nobody in the specific region, the center PC will automatically turn off the lights and air-conditions of the region. Furthermore, the center PC updates the state of indoor power supply to the web database and provide it to the users. For the second function, the depth data and sound detection captured from Kinect sensor are used to accomplish intruder detection in the indoor dark environment. When the mobile robot successfully detects the intruder, it will captures the picture of intruder and notice the users. According to a series of experiments, we are satisfied with the results of the two systems.

參考文獻

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