應用於油管外部勘查之八輪機器人之設計

DESIGN OF AN 8-WHEEL ROBOT FOR EXTERNAL PIPELINE INSPECTION

楊淳麟(Chun-Lin Yang)

指導教授 ： 何明果

大同大學/工程學院/機械工程學系所/碩士(2010年)

摘要

本研究之目的在於開發可應用於戶外環境之遠端監控與目標追蹤機器人之設計製作與控制系統應用於油管外部勘查，使油管維護人員不須親自前往環境嚴酷的現場，使用本機器人代步，即可完成油管勘查及維護工作。
為此本研究開發一台八輪遠端遙控機器人系統，具備四組昇降機構，以此克服戶外高低起伏之地形。
本研究開發之影像辨識系統，由電腦做為系統主體，搭配一只Webcam擷取影像資料，以LabVIEW 2009開發影像處理程式。該影像處理系統，在光源變動之環境中，亦可正確有效的追蹤RGB特徵值不斷變化之特徵物。
本研究以此影像辨識系統追蹤使用者頭部之運動，將辨識結果轉為馬達運動控制命令，透過無線網路傳送，使遠端遙控機器人之攝影機跟隨使用者頭部同步運動，讓使用者感到身處機器人所在之環境一般。
本研究以一般電腦為影像辨識系統與遠端遙控機器人主體，因此，只要具備合適之機構（機器人平台、移動平台）與Webcam，在配備無線網路之環境中，即可輕易、快速的應用本研究開發之遠端遙控與影像辨識系統。

關鍵字

遠端實境 ； 適應地形 ； 機器人 ； 視覺搖桿 ； 油管勘查

並列摘要

This paper demonstrates a robot system which applies on external pipeline inspection. The whole system is consisted of three portions which are mechanism, control system and internet communication system. We develop an 8-wheel lift mechanism, with this mechanism the robot has the ability to adapt outdoor terrain. Control system divide as mobile robot and control station. In order to provide the feeling to the operator like driving the mobile robot in the place where the robot is, the control station applies an image joystick system to track the head motion of the operator. In light varied environment, the image joystick system still can operate correctly even when the RGB eigen value of the target is changing. Though the image joystick system, the camera on the mobile robot can follow the head motion of the operator. And with a joystick, the control system sends out the command of direction to the moving and lift mechanism portion of the mobile robot. The internet communication system can communicate the control system and mobile robot. The whole system can quickly establish if the user has suitable mechanism (robot system, moving system etc.) and webcam in the environment which has wireless internet signal.

並列關鍵字

robot ； image joystick ； external pipeline inspection ； outdoor terrain adapt

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, 10-14 April, 2007.

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