A STUDY ON THE VISION BASED INTERNET CONTROLLED SERVICE ROBOT

• Main Authors: Chao-chuan Lin, 林昭全
• Other Authors: Ming-guo Her
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/70104895709226555334

碩士 === 大同大學 === 機械工程學系(所) === 96 === This research takes the concept “Technology comes from humanity” as tenet to combine vision joystick under first-person view to build a remote controlled service robot. The consist of this robot can be divide into two part which is : a. Computer vision apply on human-machine interface. b. Carlike robot. This research focuses on the part of computer vision applies on human-machine interface. The interface receives the image of the manipulator with marker from a webcam. In order to integrate the motion of the manipulator and robot system, we apply image processing methods to determine the motion of the manipulator from the image data which grab from the images. The advantage of our system is that it’s easy and convenient to operate. The system makes the remote robot moves with the motion which exactly the same with the manipulator as a clone of the manipulator. The technique of vision joystick of this research is that use webcam to define the position of the color makers. The color makers were stuck on the manipulator’s body. Wheneve the body moves (ex : swing head, wave hand and move feet), the color markers move, too. For the aim of remote control, we let the webcam search the color feature vector which fits the desire feature vector and determine the rotate quantity of the robot motors. Next, send control signal through internet to achieve remote control robot. The remote robot will completely copy the motion of the manipulator as a vision joystick controlled internet based service robot.