應用二維條碼於自動引導車型態之機器人室內導航系統開發

室內導航對於智慧型機器人來說是一個重要的課題，但現有的室內導航方法應用在居家環境仍有實務上的困難。本研究提出一種應用二維條碼(Quick Response Code, QR Code)於自動引導車(Automated Guided Vehicle, AGV)型態之創新室內導航系統，讓使用者可自行在一般居家室內環境中簡易的架設及操作機器人做自動導航。本研究的特色為導航系統裝置內無需儲存地圖資訊，而將相關位置資訊建立於環境之中。本研究中使用者僅須在導航環境設定程式中輸入相關資訊，即可列印出包含場地訊息的QR Code，並將該QR Code貼於天花板相對導航位置上方，即完成導航環境設定，再以平板電腦安裝本研究所開發的導航操作程式，放置在機器人上即可執行本室內導航系統。本系統利用平板電腦中內建之電子羅盤得到方向資訊，以及內建之攝影鏡頭讀取天花板上的QR Code得知位置及導航訊息，即可達成導航功能，不需由研究人員以專業的設備來架設場地，亦不需於機器人上裝設多種感測器。在本系統建置完成後，以元智大學老人福祉科技研究中心所開發的兩款機器人「智慧型機器人輪椅」(Intelligent robot wheelchair, iRW)以及「應用於人際溝通之遠端臨場機器人」(Telepresence Robot for Interpersonal Communication, TRiC)為例，進行環境條件測試與實際導航測試以驗證本導航系統實際運行的可行性，並提出導航環境設定上之限制與建議。

關鍵字

室內導航；機器人； QR code ；自動引導車

並列摘要

Indoor navigation is an important issue for intelligent robots. Existing indoor navigation methods often have difficulties when applied in home environment. This research presents an innovative indoor navigation system which uses Quick Response Code (QR Code) in Automated Guided Vehicle (AGV) type navigation. This innovative indoor navigation system allows users to set up and operate the robot for indoor automatic navigation easily and conveniently. The main feature of this system is that the navigation system does not need to store a map of the navigation environment. In this system, the user first inputs information of the navigation points required by the navigation environment setting program, then prints out QR Codes containing location message and places them on the ceiling above the navigation points to finish the navigation environment setting. Then the user installs the navigation operating program into a tablet PC, places the tablet on the robot and is ready to run the indoor navigation system. This system uses built-in sensor of the tablet to get the direction information and built-in camera to read the QR Code on the ceiling. Two robot, “Intelligent robot wheelchair (iRW)” and “Telepresence Robot for Interpersonal Communication (TRiC)”, developed by the Gerotechnology Research Center of Yuan Ze University are use as examples to test the feasibility effectiveness of navigation system. Restriction and suggestions of the navigation environment are also presented.

並列關鍵字

indoor navigation ； robot ； QR code ； automated guided vehicle

參考文獻

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國際替代計量

應用二維條碼於自動引導車型態之機器人室內導航系統開發

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