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應用於居家照護之移動式座椅機器人之設計

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圖 2  座椅機器人運作流程圖  1.2  座椅機器人機構設計  本座椅機器人之機構設計如圖 3,為 SolidWorks 繪製之架構設計示意圖,以 下針對機器人架構進行說明:  (1)  座椅:以塑膠材質為主,主要在於其具有輕便性、耐用性…等特性,輕便性 能降低機器人移動時所受之負載,進而提升移動速率,耐用性則能有較長的 使用壽命。  (2)  攝影機:以微軟所開發的 Kinect 為主,由於其不只具備彩色攝影機,還具備 紅外線發射器和紅外線 CMOS 攝影機所構成的 3D 結構深度感應器可方便計 算距離
圖 9 RGBD 影像  1.6 偵測障礙物  為了使座椅機器人能在未知的環境中行走,必須具備避障的基本能力,本計 畫以線段掃描法來偵測路況[13]。此方法的原理是使用三條線段針對畫面 1/3 處 地面進行掃描,分別為左中右三段,透過回傳每點的深度可顯示成一張連續深度 剖面資訊圖如圖 10,經此圖可發現三條線段的平均斜率皆會介於 8.5~1.5 之間, 將此平均斜率範圍設為無障礙可安全行走之正常範圍。當任一線段平均斜率變化 超過正常範圍,代表該線段有障礙物為不可行走之路段,藉此判斷是否可以行 走,有無障礙物

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