The Control of a Mobile Robot for Photography

[[abstract]]本論文提出一個自動追蹤的攝影機器人系統。此攝影機器人是分別由5個sharp長距離外線感測器、5個sharp短距離紅外線感測器、2個PWM伺服馬達、ALTERA DE0-Nano實驗板以及一台數位相機所組成。其中訊號感測的部分是分別以五個長距離紅外線感測器(gp2y0a02)的發射/接收和五個短距離紅外線感測器(gp2d120)的發射/接收訊號後經由判斷後來追蹤，而數位相機則做為紀錄周遭影像使用。為了使感測器能夠適度的偵測以及追蹤目標，我們利用五個感測器所感測的數值來比較差異後再決定機器人所移動的方向。最後，我們實現此系統並在實際環境中測試，結果顯示攝影機器人可以追蹤最近的移動物體並且收集周遭的影像。另外，由於紅外線感測器的偵測距離會影響其精準度，因此我們也嘗試了短距離和長距離紅外線感測器在實際環境中運作的差異，並且記錄了這兩種不同模組所產生的結果以及優缺點。[[abstract]]This thesis proposes a camera-robot system for automatic tracking. The camera-robot system consist of five long distances infrared sensor, five short-range infrared sensors, two PWM servo motor, ALTERA DE0-Nano experimental board, and a digital camera.About the signal , we use five long-distance infrared sensor (gp2y0a02), transmit / receive and five short-range infrared sensors (gp2d120) transmit / receive signals via the judge then let the robot tracking around. Finally digital camera will save the images to the computer. For the sensor can moderate detect and track targets, We use five sensors sensing the value to compare the differences before deciding the direction of movement of the robot. Finally we implement this system and tested in a real environment, the results show photographic robot can track the recent moving objects and collect images. In addition, the infrared sensor detection distance will affect the accuracy, so we also tried the differences in short-range infrared sensors and long-range infrared sensors operating in a real environment, and record the result as well as the advantages and disadvantages of these different modules.[[note]]碩