The Development of Vision-Guidance System for a Super Light Robotic Carrier

• Main Authors: Yi-hsin Chen, 陳一芯
• Other Authors: Ming-guo Her
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/18693343470394571677

碩士 === 大同大學 === 機械工程學系(所) === 103 === The advance of technology and universality of automated and semi-automated equipment lead to reduced high-risk labor, reduced errors, and increased efficiency of production. Our laboratory has been devoting to develop a Super Light Robotic Carrier. The purpose of this experiment is to enhance the carrier’s performance and stability on the automatic, semi-automatic, and manual mode. In this study, we use LabVIEW for program developing, and use Webcam for image processing, which includes binary thresholding, erosion, and dilation. The processed images are used for carrier signaling - a line is drawn in the middle of an image in order to identify the two points on the edges of the road, and to find the center of the road. Controlling left and right turn of the steering motor, and judging linear movement of the carrier are both based on the signals. There are two parts of our study. The first is the carrier’s design and production. The carrier is designed for a short-distance travel. It has to be able to pass our laboratory door, and the elevator, as a result, we have to limit its length within 160cm and wide within 80cm. The carrier has two wheels in the front and one wheel in behind so that it has the stability of a car and mobility of a motorcycle simultaneously. The design will make the carrier more convenient and safe. The second part is the image processing.