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題名:基於影像辨識之籃球機器人設計     (52點)
The Basketball Robot Design Based on Image Recognition
著者:張寬裕(Koan-Yuh Chang) ;吳政宏(Cheng-Hung Wu) ;林峻逸(Jun-Yi Lin) ;吳佩哲(Pei-Che Wu) ;江彥承(Yan-Cheng Jiang)
出版地區:台灣
出版城市:彰化縣
學科:自科綜合 ; 應科綜合
關鍵字:功能性機器人 ; 網路攝影機 ; 無線網路基地台 ; Functional Robot ; Single-Board RIO ; Webcam ; Wireless Network Base Station ; FPGA
刊名:建國科大理工期刊
卷期:31卷1期(2011.10)
頁碼:1-26
語言:繁體中文
摘要: 中文摘要PDF ; 英文摘要PDF

基於影像辨識,本論文探討籃球機器人之設計。本籃球機器人屬於休閒輔助為主之功能性機器人,其RST移動平台配有兩顆150 (W)直流伺服馬達並裝載了NI美商國家儀器之嶽入式高階控制器(NI Single-Board RIO, sb-RIO)、網路攝影機、無線網路基地台、2公升CO2氣瓶、管線與電磁閥;此外,本論文中尚有類堆高機機構之設計,並配合氣壓缸做簡易的推高動作。本論文中籃球機器人設計之目的為:(1)實際攝影並以網際網路連線回傳周遭的影像;(2)配合sb-RIO上的即時作業系統(Real-Time OS, RTOS)及FPGA的高速I/O控制,來達到伺服馬達之即時控制;(3)程式控制則採手動及自動兩種模式,以提升機器人自主性,以增加其使用上的便利性;(4)機器人所設定的輔助目標物為籃球,在自動模式下將會以影像辨識取球,再以影像辨識將球擊發給特定接球人員。此機器人的功能擴充性極佳,未來可發展用於居家、休閒、輔助、保全…等功能之機器人。
Based on image recognition, this paper discusses the design issue for a basketball robot, which is a functional robot with leisure-auxiliary objective. In basketball robot, the RST mobile platform with two 150(W) DC servo motor is equipped with a higher order embedded controller (NI Single-Board RIO, sb-RIO) made by the National Instruments (NI), a webcam, a wireless network base station, a 2 liters of CO2 gas cylinder, some pipelines and solenoid valves. Furthermore, in this paper, a forklift structure with pneumatic cylinder is designed for doing a simple high-pushing action. The purposes of the design basketball robot are: (1) to attain the image return with actual photography by wireless network communication for looking around, (2) to achieve the real-time control of servo motors with the help of sb-RIO operating system and the high-speed I/O control of FPGA, (3) to improve the robot's autonomy and to increase the convince of it's application due to the control program design with both manual and automatic modes, (4) to hit the basket ball to specific staff successfully with the aid of image recognition under the operations of both manual and automatic mode. The function of robot has an excellent extendibility, and in the future it can be developed for home, leisure auxiliary, security, and etc.




本卷期目次
建國科大理工期刊 31卷1期 (2011.10)
基於影像辨識之籃球機器人設計/ 張寬裕吳政宏林峻逸吳佩哲江彥承
An Improved Approach to Delay-dependent Stability Analysis and Stabilization for Takagi-Sugeuo Fuzzy Models with Time-delay/ Pin-Lin Liu
摻雜氮元素之二氧化鈦薄膜改善光觸媒性質研究/ 高文顯林世明劉士豪陳明山
改變加熱電流值對於類鑽碳鍍層之磨潤性能研究/ 高文顯劉士豪侯昆谷陳明山
引擎廢熱回收熱電轉換系統之建構與效能評估/ 曾憲中鄭澤明王政捷
 
   
 
   

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