CAJ | 학술논문

针对室内的目标搜寻问题，开发研制了一套使用Android手机作为主要处理设备、可远程操控和使用语音控制的机器人系统。介绍了该系统的结构组成，提出了一套基于人工路标的导航方案。该方案应用 QR 码作为人工路标引导机器人运动到指定区域，然后识别出目标位置，最后通过判断目标区域面积是否达到阈值的方法停在目标附近位置，基于有限状态机实现机器人的模式切换。对目标检测和人工路标识别分别进行了实验，结果验证了该方案的有效性和实用性。
침대실내적목표수심문제，개발연제료일투사용Android수궤작위주요처리설비、가원정조공화사용어음공제적궤기인계통。개소료해계통적결구조성，제출료일투기우인공로표적도항방안。해방안응용 QR 마작위인공로표인도궤기인운동도지정구역，연후식별출목표위치，최후통과판단목표구역면적시부체도역치적방법정재목표부근위치，기우유한상태궤실현궤기인적모식절환。대목표검측화인공로표식별분별진행료실험，결과험증료해방안적유효성화실용성。
In this paper, a robot based on android phone is presented to search objects in indoor environments, which supports remote control and voice control. This paper introduces the structure of the system, and proposes a navigation method based on artificial landmark. This method applies QR code to guide the robot move to certain area, recognize the target position, then stop near the target by judging whether the size of the target area can reach a threshold, and switch the mode using the finite state machine. Experiments for blob detection and artificial landmark recognition are carried out and the results verify its validity and practicability.