本研究旨在應用立體視覺結合機械手臂於移動式載具電池抽換之研究。由於一般在電動載具使用上都有電源持續問題，因此使得載具在沒電時只能以充電或更換電池方式來補充能源，而以充電方式其最大缺點在於充電時電動載具無法持續使用，若以手動更換方式對於使用者在使用上非常不便。近幾年來有產業研發了自動電池交換站解決載具續航問題，但定位電動載具電池位置的方式是使用固定軌道機構加以定位，如此一來只能在特定款式下的車種才能使用。有鑑於此，我們應用立體視覺特性並結合機械手臂來達成電池定位與抽換，其技術是先透過攝影機所擷取圖像經影像處理方式得到電池特徵在影像中的位置，接著由立體視覺演算法定位出電池在空間中的三維座標，並將電池座標傳送於機器手臂系統，經由運動學計算出手臂所需轉動的角度，使得手臂末端到達電池插槽中心位置進行新舊電池抽換動作。因此本文在影像處理上對於使用辨識電池特徵的演算法進行探討；在立體視覺上我們介紹攝影機成像模型以及對於鏡頭產生畸變的補償方法，並建立一個雙眼立體視覺的模型；在抽換電池上我們使用三個自由度的機械手臂來達成目的，並對於機械手臂運動學、軌跡規劃及控制方式進行探討；在系統實現上我們分別以TMS320DMDK642嵌入式平台實現影像及立體視覺相關演算法，以及使用TMS320C6713DSK 嵌入式平台實現機械手臂控制演算法，並完成整合視覺及手臂控制二個系統。最後針對立體視覺定位及機械手臂軌跡追蹤實驗結果進行探討，實驗結果證明本研究以立體視覺結合機械手臂方法達成載具電池的定位及更換是可行的。

This thesis presents battery exchange of mobile vehicles using a stereo vision based robotic arm system. As widely recognized, power source and maintain is always an important issue in electronic power vehicles such as intelligent wheelchairs or autonomous vehicles. One common solution is exchanging and charging the battery artificially. However, the biggest problem of battery charging is that the mobile vehicle can not be used continuously during the charging process. On the other hand, it is very inconvenient for users such as elderly or disabled people to exchange the battery. Motivated by these facts, establishing an automatic battery exchange station becomes an attractive solution and starts showing up in the market recent years. Nevertheless, there still exist several problems if using the battery exchange station. For example, the vehicle has to be guided on a fixed track to finish the task, increasing the complexity of the whole system. Moreover, the station is usually limited to specific type vehicles. Because of these problems, we apply the stereo vision technique on a robot arm to achieve battery exchange tasks. At first, the characteristic representing the position of the battery in the image captured by the camera is recognized by using image processing algorithms. Second, the three-dimensional coordinate of the battery is determined by using the stereo vision algorithm and sent to the self-designed three degree-of-freedom robot arm. Next, the kinematics is applied to calculate the required rotation angle of the motors. The robot arm finally reaches the center of the battery for battery exchanging task. This study introduces the pinhole camera model and the lens distortion compensation method to build the stereo vision model. The applied kinematics, trajectory planning and control approach are provided with details. For system implementation, this research uses TMS320DMDK642 and TMS320C6713DSK embedded platforms to realize the stereo vision and the robot arm control algorithms, respectively. Experimental results demonstrate that the battery exchange using stereo vision integrated with a robot arm is feasible.

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