Application of Image Recognition and Remote Control to a Service Robot

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基本資料

Project title

Code/計畫編號

NSC102-2221-E019-012

Translated Name/計畫中文名

結合影像識別及遠端遙控於服務型機器人之應用

Project Coordinator/計畫主持人

Jih-Gau Juang

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Communications, Navigation and Control Engineering

Website

https://www.grb.gov.tw/search/planDetail?id=3100517

Year

2013

Start date/計畫起

01-08-2013

Expected Completion/計畫迄

31-07-2014

Bugetid/研究經費

727千元

ResearchField/研究領域

電子電機工程
自動化工程(工)

This research utilizes image recognition, intelligent systems and WiFi wireless communications to a service robot. The purpose of this project is to design a service robot that can take elevator, deliver documents, remote control and surveillance. Image recognition is performed by neural network and controller design is based on fuzzy system. Image processing is under HSV color space, and pattern recognition is handled by the Adaptive Resonance Theory. The Adaptive Resonance Theory is a kind of competitive neural network, and is used to identify the pattern of digit numbers. Fuzzy theory is applied to controller design for its easy structure and less mathematical computations, and will be used in path tracking control. In this study, Labview 2010 is utilized for human-machine interface. The wheeled mobile robot is controlled by the calculated angle and distance. This research will develop adaptive neural network that can adopt surrounding changes for image recognition, and provide suitable fuzzy rules for control strategy. Finally, set up easy structure, fast learning and adequate algorithm for hardware realization, which can reduce production cost. This study uses a wheeled mobile robot as the carrier and integrates ultra sonic sensor, infrared sensor, camera, wireless communication module, and laser range finder to perform auto guidance, path tracking, obstacle avoidance, and remote surveillance. In real time surveillance, Visual studio 2008 will be used to develop interface of image processing, fuzzy controller, wireless camera, and Zigbee communications. Through image processing technique, object can be identified and the distance can be obtained. This information is then used to control robot arm to reach elevator button or to drive the wheeled robot to follow the object. Fuzzy system is applied to robot motor controller design. Images of surroundings can be transmitted to a smart phone via WiFi. The smart phone can remote control robot movement and perform surveillance. 本計畫是結合影像識別、智慧型系統及 WiFi 無線通訊於服務型機器人之應用，期望設計一部具備搭乘電梯、傳遞公文、遠端遙控、室內監視等功能的服務型機器人。本研究利用智慧型控制及智慧型系統，選擇適合之類神經網路於影像辨識，並以模糊系統設計控制器。主要目的是整合 HSV 色彩空間的影像處理、自適應共振理論的圖形識別以及模糊控制系統，應用在輪式移動機器人自動搭乘電梯及傳遞公文。自適應共振理論主要是使用在辨識電梯按鈕，這是一種競爭式學習規則應用在圖像辨識上。模糊理論是應用於控制器設計，它不需要複雜的數學計算公式，可以運用在路徑追蹤上。硬體實現將使用 Labview 2010 做為人機介面，利用角度以及距離作為輪式機器人路徑追蹤的依據。本研究要尋找具備適應環境變化能力之類神經網路於影像識別，適應性模糊控制法則於控制策略之訂定，並建立結構簡單、學習快速的適當演算方式，以便在硬體實現時，可使得成本降至最低。本研究將應用一簡便型輪式機器人，結合超音波距離感測模組、紅外線測距感測器、攝影機、無線通訊模組、雷射測距感測器等，進行自動導航、尋跡、避撞、巡邏及監視。在即時室內監視之應用上，本研究將使用 Visual studio 2008 來撰寫人機介面，以 C#語言撰寫影像處理、模糊控制器、無線攝影機和 Zigbee 無線通訊，作為電腦端之間的數據傳遞。經由網路攝影機擷取到的環境影像，利用 HSV 色彩空間轉換，篩選出目標物，再透過影像處理技術與距離演算法，計算機器人與目標物的實際距離，以控制機器人觸控標的圖形或追隨目標物。模糊系統將應用在攝影機的伺服馬達控制與機器人控制器的設計上，機器人可執行監控動態目標物。影像經由 WiFi 無線傳輸傳送至手機上，手機可遠端遙控機器人前進、後退、左右轉，並進行室內巡邏監視。

Keyword(s)

服務型機器人
影像處理
圖形識別
遠端遙控
自適應共振理論
模糊系統
自動導航
Service Robot
Image Processing
Pattern Recognition
Adaptive Resonance Theory
Fuzzy System
Automatic Guidance

DSpace CRIS

Application of Image Recognition and Remote Control to a Service Robot

基本資料

Description