以混合型微控制器系統在智慧型機器人之應用

Application of Hybrid Micro Controller System to Intelligent Robot

方男榮(Nan-Rung Fang)

指導教授 ： 呂順利

崑山科技大學/工程學院/電子工程研究所/碩士(2009年)

摘要

機器人與人類互動是現在研究機器人非常重要的領域，因為我們需要它能具有更多功能。本文將設計一套混合型微控制器系統來實現智慧型機器人的控制，此系統是整合四種不同功能的晶片。包括：(1)直流伺服馬達控制 (2)Zig-Bee通訊遙控系統(3)語音辨識(4)影像圖形辨識。移動是機器人一個很重要的基本功能，它必需經由內部控制晶片的交互作用來完成。本論文已發展完成下列技術，包括：(1)整合內部控制晶片來完成機器人運動，(2)依據IEEE通訊協定之遙控技術，(3)當人們受限於手臂時的自然互動技術，它可以依據我們指令動作，(4)可使機器人能辨識物件外形並為我們提供結果的視覺系統。使用上述整合技術，經由實測結果，可得到良好的互動效果。

關鍵字

智慧型機器人 ； 語音辨識 ； 影像辨識

並列摘要

Robot with capability of human interaction is an important research area because it becomes more versatile. The proposed intelligent robot control system is designed and implemented by hybrid micro controller systems in the thesis. This techniques is integrate chips with different functions , (1) DC servo motor, (2)Zig-Bee remote control system, (3)speech recognition, (4)digital image pattern recognition using neural network. Mobility is an important requirement. it achieves via the complex interactions in the chips. Four techniques conduct in the thesis, (1)mobile control of the robot, (2)remote control technique via the IEEE standard protocol,(3)natural alternative interface acts when peoples with limited mobility in their arms and hands, it provides the function of voice control,(4)video system provides robot the ability to recognize object shape and response the results. Using the integrated techniques, the robot can interactive well after actual field test. The proposed robot control system is elegant and useful.

並列關鍵字

Intelligent Robot ； speech recognition ； image recognition

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