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研究生：	呂明峰 Lu, Ming-Feng
論文名稱：	以SOPC為基礎的小型人形機器人視覺與控制系統之設計與實現 Design and Implementation of SOPC Based Image and Control System for Small Size Humanoid Robot
指導教授：	李祖聖 Li, Tzuu-Hseng S.
學位類別：	碩士 Master
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2007
畢業學年度：	95
語文別：	英文
論文頁數：	90
中文關鍵詞：	影像、人形機器人
外文關鍵詞：	image, humanoid robot
相關次數：	點閱：65 下載：3
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本論文係探討以SOPC為基礎的小型人形機器人之視覺系統與控制策略的發展與建立。其中，視覺系統的主要功能為圖形辨識。首先由CMOS感測器擷取影像畫面後，以濾波器移除顏色資訊並排除雜訊干擾，再以邊緣處理將所需影像特徵取出並加以分析，最後經由斜率與方程式的計算完成幾何圖形與箭頭之辨識。而控制策略則是以FIRA競賽中的PK與其他項目為主，描述機器人如何完成進攻、防守等其他策略。透過驅動兩顆小型伺服馬達控制CMOS感測器，使機器人經由模糊控制器搜尋並追蹤特定目標物，接著再擷取畫面，並分析場地上的狀況來決定機器人的動作。本論文首先會探討機器人的機構，包含馬達、處理中心，電力與視覺系統。接著會針對影像方面做詳細的說明，包含辨識幾何圖形與箭頭方向的演算法、追蹤目標物的方法，以及PK和其他項目的控制策略。最後透過實驗與FIRA HuroCup之競賽結果，可充分展現本小型人形機器人的圖形辨識能力及其優越的效能與強健性。

This thesis mainly concerned about the development of an SOPC based image and control strategy system for a small size humanoid robot. The main function of the image system is pattern recognition. Several geometric figures and the direction of arrows can be recognized in a complex environment at the same time. The image information is captured by the CMOS sensor. The colors and noise will be filtered out first. Moreover, the edge detection approach is utilized to find the feature points so as to analyze the image. The control strategy conforms to the laws of Penalty Kick and other events of the FIRA competition. We describe the methods of the offense and defense modes and other strategies. Our robot can track specific objects via the CMOS sensor controlled by two small servomotors. The motions of the robot are decided by analyzing the condition of the environment from the captured image. This thesis begins by discussing the mechanism of the robot, including the actuators, central process unit, power, and image systems. Furthermore, it describes how to deal with the complex background and the algorithms of pattern recognition in detail. The method for tracking objects and the control strategy for Penalty Kick and other events will be illustrated. Finally, the experiment results show the capability of pattern recognition and the efficiency and validity in the HuroCup of the FIRA.

Abstract  Ⅰ
Acknowledgment  Ⅲ
Contents  Ⅳ
List of Figures  Ⅵ
List of Tables  Ⅹ

Chapter 1. Introduction  1
1　Motivation  1
2　Thesis Organization  3
Chapter 2. Mechanism and Hardware of the Small Size Humanoid Robot  4
1 Introduction  4
2 Design of Mechanism  5
3 The Hardware and Software of the Robot  9
3.1 Actuator  11
3.2 Central Process Unit  12
3.3 Power System  15
3.4. Vision System  16
4 Summary  18
Chapter 3. Vision System  19
1 Introduction  19
2 Image Format  20
3 Pattern Recognition  21
3.1 Searching the Targets in a Complex Background  22
3.2 Edge Detection Approach  27
3.3 The Algorithm of Pattern Recognition  29
4 Summary  44
Chapter 4. Control Strategy System  45
1 Introduction  45
2 The Fuzzy Based 2D Tracking Method  46
2.1 The Principle of Tracking Command  46
2.2 The Fuzzy Logic Controller for Tracking Motors  48
3 The Control Strategy for Penalty Kick  57
3.1 Overview of the Penalty Kick Event  57
3.2 The Strategy for Offense Mode  58
3.3 The Strategy for Defense Mode  65
4 The Control Strategy for Other Events  66
4.1 Overview of Other Events  66
4.2 The Strategy for Basketball Event  67
4.3 The Strategy for Marathon Event  69
5 Summary  70
Chapter 5. Experimental Results  71
1 Introduction  71
2 Experimental Results of Pattern Recognition  72
3 Experimental Results of Strategies  79
Chapter 6. Conclusions and Future Works  84
1 Conclusions  84
2 Future Works  85
References  87
Biography  90
                                    

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校內：2009-07-17公開
校外：2009-07-17公開

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