The Application of Laser Ranging Finder to Assist Field Robot in Image Positioning

• Main Authors: Yung-Cheng Huang, 黃永承
• Other Authors: Chung-Liang Chang
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/54249039374749082359

碩士 === 國立屏東科技大學 === 生物機電工程系所 === 101 === The purpose of this paper is to use a laser-based distance measuring device and image positioning technology to position the movement of field robot. First, the known holder punctuation object is placed along the walking path of robot. The image recognition technology including RGB-color space conversion, dithering, median filtering, image segmentation, size filtering step is adopted to recognize and detect objects up to three or more. Meanwhile, the center of object is labeled on the human-machine interface, followed by laser range finders returning the orientation angle and distance values of the robot relative to the object to the computer. Finally, the angle of arrival (AOA) positioning method is employed to calculate the robot location. Artificial immune potential field algorithm is used to perform the path planning of robot. This algorithm can find the shortest distance between starting point to target point of robot. As for system control process, the microcontroller receives the ranging data from the laser ranging finder and obstacle location data from the database within the computer. After that, the control signal is sent to motor driver module to control the moving direction of robot and obstacle avoidance. The proposed agricultural robot is equipped with PIC micro-controller, CCD camera, laser ranging finder, motor driver module, battery, electric compass, odometer, and computer, which uses integration positioning methods to achieve an autonomous behavior of robot. The proposed prototype of intelligence field robot can be applied to indoor/outdoor automatic gardening, watering, and spraying in the future.