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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/26

    Title: 基於動態運動偵測的帶位機器人;Ushering Robot Based on Dynamic Motion Detection
    Authors: 李宏倫;LI, HONG-LUN
    Contributors: 資訊工程研究所
    Date: 2018
    Issue Date: 2019-05-23 10:30:12 (UTC+8)
    Publisher: 資訊工程研究所
    Abstract: 近年來台灣服務業佔國內生產總值(GDP)比重高達63.15%,為總就業人數比重中的59.17%。由此可知,服務業已為我國經濟活動之主體。服務業顧名思義,以提供勞務換取報酬,其工作內容大多為高重複性、高勞動力且長時間性的工作。但長時間且高勞動力的工作往往容易因為注意力下降而產生人因事故,甚至導致顧客受傷。隨著科技的進步,硬體愈做愈小且效能卻愈來愈好。因此我們可以運用高性能的硬體來製造與真人體型相當的機器人,用於取代人類以進行高重複性、高勞動力且長時間性的工作,不僅能提升工作效率及準確度,還可以大幅降低人因事故發生的機率及傷害。一般而言當顧客欲於店內用餐時,店家與顧客第一個遇到並需要解決的問題即為桌位的選擇。以店家的角度,希望將桌子完全填滿以達到桌子有效利用以及利益最大化;以顧客的角度。有人希望享受自己獨處的時光,有人希望跟別人併桌結交新朋友。本論文以餐廳用服務型機器人的帶位為研究主體,針對如何判斷桌位是否空閒與如何選擇合適桌位以及如何規劃路徑三大重點做討論,並由此實作出帶位機器人。本論文藉由結合選取合適位子演算法、感興趣區間偵測以及路徑規劃演算法實作帶位機器人系統。其中選取合適位子演算法能夠即時地依照用餐人數判斷對店家以及顧客適合的桌子;感興趣區間偵測可即時監測某一區域並為系統提供當前該區域的狀況;路徑規劃則依當前規劃路線和當前周遭障礙物決定即時路徑規劃是否需重新計算。
    In recent years, Taiwan's service industry accounted for 63.15% of the gross domestic product (GDP), accounting for 59.17% of the total employment. It can be seen that the service industry has become the main body of China's economic activities. As the name suggests, the service industry provides labor services in exchange for remuneration. Most of its work is highly repetitive, high-workforce and long-term work due to accidents. However, long-term and high-labor work tends to generate people because of decreased attention, and even lead to customer injury.With the advancement of technology, the hardware is getting smaller and better and the performance is getting better and better. Therefore, we can use high-performance hardware to make robots that are comparable to real human bodies. It can replace humans for high reproducibility, high labor and long-term work, which not only improves work efficiency and accuracy, but also greatly reduces The probability and harm of human accidents.Generally speaking, when a customer wants to dine in the store, the first problem that the store and the customer encounters and needs to solve is the choice of the table. From the store's point of view, I hope to completely fill the table to achieve effective use of the table and maximize the benefits; from the customer's point of view, someone wants to enjoy their own time alone, and some people hope to make new friends with others. This thesis is a service-oriented robot for restaurants. The position of the research is the main body of the research. It discusses the three key points of how to judge whether the table is free and how to choose the appropriate table and how to plan the path, and thus makes the robot with the position.In this paper, by combining the appropriate seat algorithm, the interest interval detection and the path planning algorithm are implemented as the robot system. The appropriate seat algorithm can be used to judge the table suitable for the store and the customer according to the number of people. Interval detection can instantly monitor an area and provide the current status of the area for the system; path planning determines whether the immediate path planning needs to be recalculated based on the current planned route and the current surrounding obstacles.
    Appears in Collections:[資訊工程學系] 學位論文

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