智慧型導盲機器人之研究

A Study on the Intelligent Wheeled Mobile Robots for Blind Navigation Application

蔡樸生(Pu-Sheng Tsai) ； 林盈灝(Ying-Hao Lin)

《中華科技大學學報》 50期 (2012/01) Pp. 89-125

https://doi.org/10.7095/JCUST.201201.0088

摘要

視障朋友們長期處於黑暗的世界中，無法以視覺來體認這五彩繽紛的世界，必須依靠聽覺、觸覺、嗅覺等來感受他所生存的空間。缺乏影像的資訊，使他面臨外在環境以及障礙空間的挑戰，其危險性比一般正常人高出數百倍。尤其在戶外活動時祇能藉耳朵與柺杖來探索週遭的環境，再憑模糊的印象來推測所在的位置。為了讓盲人安心地踏出每一個腳步，本文的構想是在導盲磚的背面貼上無線射頻辨識系統（RFID）的電子標籤（Tag），並且將RFID讀卡機、超音波感測器以及語音晶片結合在一台輪型機器人上，前端並以一根柺杖作聯結。一旦盲人接近導盲磚，RFID將讀取Tag上的訊息透過語音播報系統以聲音告知視障者行走的方向與周遭環境之訊息。此外，架設在輪型機器人上的CMOS影像感測器用來偵測導盲磚上的黑色標線，導引盲人在兩條標線之間前進或左右轉。最後，我們在輪型機器人上加裝鋰電池充電控制單元，透過一顆ATtiny25微控制器對電池本體進行充、放電控制及目前電池容量的監控。本系統的開發將提供視障朋友環境資訊的取得，道路指引功能以及附近的交通資訊，透過豐富的空間環境訊息，使得盲人具有走出戶外的信心與勇氣。

關鍵字

CMOS影像感測器 ； 輪型機器人 ； 嵌入式微控制器 ； 無限射頻辨視模組 ； 超音波感測器

並列摘要

The visually impaired people have long been facing the dark space. They can't realize the colorful world with the vision, hence they have to rely on tactile, smelling and hearing to feel and experience the environment. Lack of the video information, the blind may take action according to wrong decision-making and get in trouble while facing the challenge of outer circumstances and obstacles. It is very difficult for a blind pedestrian to accurately estimate the position and orientation by a walking stick or a guide dog. For this purpose, an intelligent wheeled mobile robot with guidance is designed to help the blind to move safely in this paper. The blind guiding systems, which integrate CMOS image sensor, radio frequency identification system (RFID), voice system, battery charger system and crash avoidance techniques, serve those outdoor blind pedestrians among obstacles and other hazards. The RFID reader will be installed at the mobile robot and the RFID tags will be fixed at the guide tile. Once the mobile robot come near the specified guide tile, the voice system will be actuated to inform the blind pedestrians about environment map or traffic information. In addition, the CMOS image sensor mounted on the mobile robot to detect the white markings on lead tiles, guide the blind to forward or turn around between two standard lines. Finally, the lithium battery charger system is designed for the guidance mobile robot, and a microcontroller ATting25 is applied to supervise the capacity of battery during charging.

並列關鍵字

CMOS Image Sensor ； Wheeled Mobile Robot ； Embedding microcontroller ； Radio Frequency Identification Module ； Ultrasonic Sensor