應用視覺搖桿透過網際網路控制遠端服務型機器人之研究

A STUDY ON THE VISION BASED INTERNET CONTROLLED SERVICE ROBOT

林昭全(Chao-chuan 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

科技始於人性。本研究以此為宗旨，首次結合影像視覺搖桿以第一人稱發展成遠端搖控之服務性機器人。突破以往遠端監控自主型機器人，因應現代數位住宅即將跨入智慧型住家管理領域。它主要分為兩個部分：電腦視覺於人機介面應用、輪型機器人。本文主要探討電腦視覺於人機介面應用方面，主要是透過網路攝影機接收控制端操作者肢體上的標籤影像，以影像視覺技術擷取判斷使用者的動作與機器人系統整合。將用戶的真實肢體語言情境表達於遠端遙控智慧型機器人所呈現。使機器人系統化身為在遠端的使用者附身，附與機器人生命，且具有方便控制及真實人性化等優點。
本文的視覺搖桿技術為利用網路攝影機擷取使用者的顏色標籤，此顏色標籤分別貼在要擷取來判斷的肢體上。當肢體擺動時（如頭部轉動、手腕運動、腳掌前端等），色塊標籤也隨之移動。應用不同的標籤色塊的顏色特徵向量，透過網路攝影機搜尋符合此特徵向量的像素與計算機器人馬達轉動量再透過網路傳輸達成遠端控制。而遠端機器人將透過網路完全模擬遠端使用者的動作，使之成為一以影像搖桿控制之網路服務型機器人。

關鍵字

機器人 ； 影像搖桿

並列摘要

This research takes the concept “Technology comes from humanity” as tenet to combine vision joystick under first-person view to build a remote controlled service robot. The consist of this robot can be divide into two part which is :
a. Computer vision apply on human-machine interface.
b. Carlike robot.
This research focuses on the part of computer vision applies on human-machine interface. The interface receives the image of the manipulator with marker from a webcam. In order to integrate the motion of the manipulator and robot system, we apply image processing methods to determine the motion of the manipulator from the image data which grab from the images. The advantage of our system is that it’s easy and convenient to operate. The system makes the remote robot moves with the motion which exactly the same with the manipulator as a clone of the manipulator.
The technique of vision joystick of this research is that use webcam to define the position of the color makers. The color makers were stuck on the manipulator’s body. Wheneve the body moves (ex : swing head, wave hand and move feet), the color markers move, too. For the aim of remote control, we let the webcam search the color feature vector which fits the desire feature vector and determine the rotate quantity of the robot motors. Next, send control signal through internet to achieve remote control robot. The remote robot will completely copy the motion of the manipulator as a vision joystick controlled internet based service robot.

並列關鍵字

VISION BASED ； ROBOT

參考文獻

[1] Sandro Mussa-Ivaldi, 2000. “Neural engineering: Real brains for real robots.” Nature, v 408, p305-306.

[3] Craig, J. J. “Introduction to Robotics : Mechanics and Control, Third Edition” 。

[5] Ivan Petrovic, Misel Brezak，“Machine Vision Based Control of the Ball and Beam” ，2002 IEEE。

[6] M-C. Tsai, K-Y. Chen, M-Y. Chen and K.C. Lin，”Implementation of a real-time moving object tracking system using visual servoing ” ，March 27,2003。

[8] 蔡宗成，胡正鈺，陳明周，”遠端網路代理機器人之設計與應用”，2001。