基於慣性感測的遠端控制虛擬釣魚系統

Inertial-Sensor-Based Remote Control of a Virtual Robot Arm for Fishing

張家銘(Chia-Ming Chang)

指導教授 ： 周永山

淡江大學/工學院/電機工程學系碩士在職專班/碩士(2012年)

https://doi.org/10.6846/TKU.2012.00483

摘要

本篇論文提出一個遠端虛擬控制的釣魚系統。利用特製的穿戴
式裝置再搭配慣性及磁性感測器(加速度計與電子羅盤)，量測出人
體手臂關節的角度資訊，並透過 SPI 協定(Serial Peripheral
Interface)的無線傳輸技術，遠端控制三軸的虛擬釣魚平台。為了
達到及時的目標，本文利用核心為 ARM (Advanced RISC Machine)
Cortex-M3 之微處理器 STM32F103 平台實現分時多工及多執行緒的
機制，並將更新頻率設為 10Hz，有效提升處理速度。實驗結果證實
此系統之可行性。

關鍵字

海釣 ； ARM ； 遠端控制 ； 機械手臂 ； MEMS

並列摘要

This thesis presents an inertial-sensor-based remote control of a virtual robot arm for fishing. A sleeve with built-in inertial and magnetic sensors (accelerometer and electronic compass) is utilized to capture human arm posture. Then the collected kinematic data is transmitted through a wireless transmission technology to remote control a tri-axial virtual robot arm for restoring human arm posture on fishing.
For the purpose of real-time control, the microcontroller STM32F103VC that incorporates the high-performance ARM Cortex-M3 RISC processor core is adopted to implement the time division multiplexing and multi-threading mechanisms on the remote control system. With the frequency setting updated to be 10Hz, the response speed of the system is satisfactory. Experiment shows the viability of the proposed system.

並列關鍵字

fishing ； ARM ； remote control ； robot ； MEMS

參考文獻

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