- 學位論文
整合Webcam及USB介面之伺服控制器開發及其於可攜式球平台系統之應用。
Development of a Servo Controller Integrating Webcam and USB Interface and Its Application in a Portable Ball-on-Plate System.
摘要
本研究運用了USB介面的隨插即用、熱插拔及擴充性等便利，以個人電腦（PC）內建之USB hub作為通訊主軸，整合了Webcam（使用USB 2.0）、自行開發之伺服馬達控制單元、筆記型PC及輕便之球平台機構，建構了一套低成本之可攜式球平台系統。其中，Webcam是做為球位置的視覺回授元件，而伺服馬達控制單元係以相容MCS-51系列之AT89S52單晶片微控器作為核心，並搭配自行發展的週邊電路及韌體，以做一軸或二軸的位置伺服控制。另筆記型PC，除做為USB通訊之主機端外，依據不同的系統功能，它也用來執行系統的主要程式，兼做為人機介面及處理由Webcam所攝取的影像，以求得球在平台上之X、Y軸位置座標。 最後，將上述各單元建構完成及整合後，此球平台系統可處理Webcam每秒所擷取的30張影像，並求出球在球平台的中心座標，同時可控制球平台追隨搖桿的擺動，於0.3秒內完成定位。依據這樣的能力，我們設計了兩個系統功能：一、智慧型人機互動球平台遊戲，包含「人機互動」（如：X軸自動Y軸手動或X軸手動Y軸自動）、「人與人互動」（X、Y軸皆手動）等，而此部份已證實能達到預期之目標；二、球位置的平衡控制，此是要控制球停止於所欲的位置，由於所需的控制法則相當複雜，本研究只進行至可驗證架構的可行性，而控制法則的研究，則待未來的學弟來進行。
並列摘要
Appling the convenience of USB interface ( plug and play, hot attach and detach and extensibility ), this research use a notebook PC and its USB hub as the main communication kernel for integrating a microprocessor, a Webcam and a servo-motor controller to form a low cost, portable ball-on-plate system. In the system, the Webcam is used as a vision feedback component, the servo-motor controller is based on a MCS-51 compatible AT89S52 micro-controller to integrate peripheral circuits and firmware. Except used as a communication kernel, the PC also provides the functions of executing the assigned tasks, man-machine interface and the post image processing in order to obtain the X,Y coordinates of the ball in the plate. After the integration of above mentioned component, the ball-on-plate system can process 30 digital pictures generated from Webcam and determine the center of the ball in each sampling period. Spontaneously and immediately, the system also can control the swing of the plate following the input of the handle and reach the desired position within 0.3 second. Based on above capabilities, we designed two system tasks to let the I notebook PC to execute. One is the intelligent man-machine ball-on-plate game, witch includes man-machine competing ( X axis by man, Y axis by machine; or vice versa ) and man-man competing. This first task is implemented in the system and proved to be acceptable. The second task is to control the ball to stop at a desired place. This control actually requires very complicate algorithm and beyond the scope of this research. However, such a task is proved to be feasible based on the structure provided.
參考文獻
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