IR Indoor Localization and Wireless Transmission for Motion Control in Robotic Architecture and Intelligent Life Applications Based on Wiimote Technology

• Main Authors: Po-WeiChen, 陳柏維
• Other Authors: Kuo-Shen Chen
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/60254372379925052567

碩士 === 國立成功大學 === 奈米科技暨微系統工程研究所 === 98 === 　　With the integration of sensors and actuators with buildings, spaces therefore have sensing ability, flexibility, and interactivity. Moreover, there is also the ability of auto-transformation in space and intelligent services depending on weathers and habitants’ needs and behaviors, which is the trend of future buildings. Wiimote controller can be applied to localization of space vehicles, wireless sensing, and smart remote controlling as a result of pointing localization with near infrared ray (NIR) and high expandability. In this thesis, we developed the high expandability and extremely accurate localization technique by utilizing IR LED arrays combined with CMOS image sensor built in Wiimote. We designed the multi-zone positioning technique based on the concept of air traffic control according to Kinematics, and accomplished the localization algorithm by LabVIEW. Then we designed various types of dynamic experiments utilizing dual-axis linear motor as a platform to evaluate and verify the dynamic and localization performances of Wiimote system, such as dynamic characteristic and positioning accuracy. We interpreted and discussed thoroughly about the principle of geometry, algorithm of localization, and the relation of CMOS image sensor resolution between IR LEDs and Wiimote camera in the actual applications. We have used the Wiimote built-in components and I/O ports for varied environmental sensing and motion control demonstration, and integrated into the applications of robotic building and interactive E-Life. Not only does Wiimote system can achieve indoor localization and motion control of space robots and other vehicles, but also can be applied to E-Life applications. In this thesis, we demonstrated the motion control of robots, expanding the capability of Wiimote and Nunchuk to trigger devices, smart remote controlling, remote monitoring and controlling via Internet, and the design of GUI. Other applications about Wiimote can also be extended to the measurement of system dynamics, and the research of the 3D localization as well as motion sensing. Finally, we will summarize the key components inside Wiimote, such as CMOS image sensor, Bluetooth chip, accelerometer, microcontroller, and etc., to develop a small, high resolution, and functional sensing module.