本研究利用可感測深度的新型攝影器材Kinect對地面及地上的物體進行偵測,使用偵測到的數據建立地面的模型,並以此數據對自走車進行引導。自走車以微控制器Microchip PIC18F4520為核心,並使用藍牙無線通訊與電腦連結,由電腦進行遙控。 使用者可透過電腦對自走車下達移動指示,設定好目的地後,自走車將被引導前進,引導程序會規劃出可以正確走到目的地的路徑,並避開障礙物,最後將到達使用者指定的地點。 除了定點移動外,本系統也可以經比對得到不該出現在地面上的物體,如鋁罐。若將自走車移動的目標設定為該鋁罐,則自走車會移動到鋁罐旁邊,可以進一步的將鋁罐拿起,可實現打掃的功能。
This paper presents a PC based vision system and control scheme for guiding the autonomous robot in unknown environment. By using Kinect from Microsoft newest product, the vision system measures the three dimensional relative distance and builds a map between the robot and surrounding object. The robot includes a MCU (Microchip PIC18F4520) as control unit and a Bluetooth as wireless communication module. According to the map, system can control and guide a wireless robot moving to command position and avoiding obstacles in Kinect's visible area. With this system, user can set a goal on the map, then the robot will be guided to move to the goal.