無線網路遠端監控與目標追蹤機器人之 設計製作與控制

DESIGN, CONSTRUCTION AND CONTROL OF A WIRELESS INTERNET BASED REMOTE CONTROL SURVEILLANCE ROBOT WITH AUTO-TRACKING FUNCTION

林建輝(Chien-Hui Lin)

指導教授 ： 何明果

大同大學/工程學院/機械工程學系所/碩士(2008年)

摘要

機器人在現代社會中的應用越來越廣泛，不論是在軍事、商業上，甚至於ㄧ般民眾的家裡都可以看到，每台機器人都是依照特殊的需求及用途所研究開發而成的，本研究的目的是無線網路遠端監控與目標追蹤機器人之設計製作與控制系統，使遠端的使用者不須要出門，使用本機器人代步，即可到達用戶想要觀看的景物。透過網路來控制遠端無線網路影像追蹤機器人，同時可以選擇欲追蹤的目標物，機器人即會自己規劃最短的路線並到達目標物身旁。
影像追蹤系統我們採用筆計型電腦作為影像處理系統的主體，而在移動平台機器人上，使用DSP TMS320LF2407微處理機產生控制馬達的訊號，並使用PID控制器來完成馬達控制。

關鍵字

無線網路 ； 遠端監控 ； 目標追蹤

並列摘要

Robot has become more and more important in our daily life. We can see it everywhere, for example, in the military, commercial business, and even in common family house. In fact, every robot are designed for particular needs.
The purpose of this study is to design, construction and control of a wireless internet based remote control surveillance robot with auto-tracking Function. We use this robot to replace us to go to a place where we would like to go. We can communicating with the robot through the Internet and selecting a particularly object to tracking.
This study using a laptop as a major image processing system, and using DSP TMS320LF2407 microprocessor to control the motor.

並列關鍵字

Remote control ； Auto-tracking ； Wireless

參考文獻

"Outdoor Navigation of a MObile robot Using Differential GPS and Curb Detectin", IEEE Int'l Conf. on Robotics and Automation, Italy,

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[3] Sun-Li Wu, Ming-Tang Cheng, member IEEE and Wen-Chung Hsu,"