動態三超音波感測器融合視覺系統應用於行走機器人

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研究生：	柯漢良 Han-Liang Ko
論文名稱：	動態三超音波感測器融合視覺系統應用於行走機器人 Dynamic Tri-ultrasonic Transducer Fused with Vision System for a Mobile Robot
指導教授：	鍾鴻源 Hung-yuan Chung
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 電機工程學系 Department of Electrical Engineering
畢業學年度：	89
語文別：	中文
論文頁數：	56
中文關鍵詞：	超音波感測器、融合、視覺、行走機器人、分類、定位
外文關鍵詞：	Ultrasonic Transducer, Fused, Vision, Mobile Robot, Classification, Localization
相關次數：	點閱：16 下載：0
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在行走機器人的領域裡，視覺感測器扮演著重要的角色，而一個智慧型的感測器系統必須滿足兩個需求：(1)正確地分辨出反射物的形狀(如平面，牆沿及牆角) (2)精準地對反射物定位(包括距離及方位)。因此，在本篇論文中，我們提出了一個新的動態三超音波感測器融合視覺的量測系統，其主要的目的可以正確地識別反射物並對它們做正確地定位。其中，我們提出一套新的辨識規則，使量測系統能更準確地對反射物做分類。並且，以一種新的動態估測方法進行對反射物做正確地定位。

Abstract ……………………………………………………………… Ⅰ
Table of Content …………………………………………………… Ⅱ
List of Figures …………………………………………………… Ⅴ
List of Tables ……………………………………………………… Ⅶ
Chapter 1: Introduction …………………………………………… 1
1-1 Background ……………………………………………………… 1
1-2 Motivation ……………………………………………………… 1
1-3 Organization …………………………………………………… 2
Chapter 2: Survey of Ultrasonic and Vision Measuring
Systems ………………………………………………………………… 3
2-1 Introduction …………………………………………………… 3
2-2 One Ultrasonic Measuring Systems ………………………… 3
2-3 Two Ultrasonic Measuring Systems ………………………… 5
2-4 Three Ultrasonic Measuring Systems ……………………… 8
2-5 Five Ultrasonic Measuring Systems …………………………15
2-6 Measuring Systems of Ultrasonic Transducers with CCD Cameras …………………………………………………………………17
2-7 Summaries of the Measuring Systems ……………………… 17
Chapter 3: Basic Principles of Ultrasonic Sensors and CCD
Cameras …………………………………………………………………19
3-1 Introduction …………………………………………………… 19
3-2 The Basic Principles of Ultrasonic Sensors …………… 19
3-2-1 The physical model of ultrasound ……………………… 19
3-2-2 The conventional ultrasonic ranging systems …………20
3-2-3 The model of the environment …………………………… 23
3-3 The Principles of Image Processing ……………………… 23
3-3-1 The features of the image ……………………………… 23
3-3-2 The image enhancement …………………………………… 24
3-3-3 The image segmentation …………………………………… 25
Chapter 4: Design of the Dynamic Tri-ultrasonic Transducer Fused with Vision System ………………………………………… 27
4-1 Introduction …………………………………………………… 27
4-2 The Principles of the Dynamic Tri-ultrasonic Transducer Fused with Vision System ………………………………………… 27
4-2-1 The Principle of the Shape Discriminator …………… 27
4-2-2 The Principle of the Inclination Angle Detector … 30
4-3 The Design of the Dynamic Tri-ultrasonic Transducer Fused
with Vision System …………………………………………………32
4-3-1 Classification Step …………………………………………32
4-3-2 Localization Step ……………………………………………35
4-4 The Operation Procedures of the Dynamic Tri-ultrasonic
Transducer Fused with Vision System ………………………… 37
Chapter 5: Hardware and Software Design ………………………38
5-1 Introduction …………………………………………………… 38
5-2 Ultrasonic Transducer ……………………………………… 39
5-3 Ultrasonic Ranging Module ………………………………… 40
5-4 Data Acquisition Card (PCI-1712) ………………………… 42
5-5 CCD Camera ……………………………………………………… 43
5-6 Frame Grabber ………………………………………………… 43
5-7 Stepper motor and Driver …………………………………… 43
5-8 Personal Computer …………………………………………… 44
Chapter 6: Experimental Results and Discussion …………… 45
6-1 Introduction …………………………………………………… 45
6-2 Experiments Verifications ………………………………… 45
6-2-1 Classification ………………………………………… 45
6-2-2 Localization …………………………………………… 51
6-3 Discussion ……………………………………………………… 52
Chapter 7: Conclusions and Recommendations ………………… 53
References …………………………………….…………………… 54
Appendix ……………………………………………………………… 56

                                

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