碩士 / 國立臺中科技大學 / 資訊工程系碩士班 / 100 / The purpose of this thesis in the application of real-time image processing technology and intelligent sensors to achieve real-time navigation capabilities of intelligent mobile robot. With wireless image transfer CCD camera used in this study, an intelligent mobile robot, can be used for real-time video signal processing, color recognition, motion detection and remote environment image monitoring, smart sensor applications and autonomous programmable development, allowing users to quickly import the hope that the completion of the application of experimental tools development engineering.
In this thesis, through computer vision and image processing technology, to planning design on the vehicle use the object tracking, direction sign recognition and on-street parking, three important navigation system functions as listed above. In order to reach a self-propelled vehicle car navigation environment to simulate real life, including automatic identification of direction signs, turned to the road, follow the direction signs to indicate automatic navigation function to search for parking space and automatic on-street parking. In addition, in order to let the user through a simple interface to control self-propelled car navigation features, specially designed PC interface and WEB remote control interface to provide users to choose the operating various functions to reflect the intelligent mobile robot navigation system versatility and operating convenience.
In"Object tracking" process, self-propelled image information of the wireless video transmission on the car camera can of instant photography, via wireless transmission back to the server for further image recognition processing, and then after the image processing algorithms to calculate theconvenience can be learned to track objects with intelligent mobile robots between the relative and thus reached the navigation features to track the target object.
In the part of detection direction of Mark Recognition is the basis for the use of intelligent mobile robot color detection technology to search for and detect the need to identify the pattern blocks, and pulled out of the drawings from the original background image, and at the same time filterget rid of the residual noise in the background is detached. Then, in the capture of the drawings, it is a triangular block area ratio to determine the method to distinguish the direction signs can be used to determine the characteristics of symbols and their point of directional Obtained can be used to determine the characteristics of directional signage, that is, allow intelligent mobile robot is performing the direction signs to determine the function of navigation and orientation.
During the implementation of the on-street parking, based on images taken since the car-go wireless image transfer CCD camera, then the algorithm steps in accordance with the paper, to perform the on-street parkingcontrol flow, sequentially following navigation feature discrimination: parking grid search to determine the perimeter parking lines of parking space, sure no obstructions within the parking space, on-street parking.
Finally, through the methods of systems analysis, planning and design of the PC interface and WEB remote control interface and through the practical way to verify the feasibility of the interface and operating convenience has reached a intelligent mobile robot navigation system operated by the versatility and convenience of operations.
Through the completion of car navigation systems, Identification and functional applications through the completion of the experimental results show, to prove that our proposed intelligent mobile robot navigation system, helps to automatically navigate to the real parking on the application.
| Identifer | oai:union.ndltd.org:TW/100NTTI5392029 |
| Date | January 2012 |
| Creators | Kuen-Shiung Chen, 陳坤雄 |
| Contributors | 林春宏 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 57 |
Page generated in 0.0127 seconds