數位自走車之設計與製作

本論文以低成本的方式設計與製作一台非掃描地面貼線之自走車。本自走車利用四顆輔助輪降低乘載物對馬達的影響；動力輪部分利用避震將支撐力分散開，避免應力集中於馬達軸承，造成馬達損壞。將馬達以軸承盒方式組合，避免將兩顆馬達分開安裝，產生馬達因轉動後的甩動，進而造成馬達回授值記錄記錄誤差。本自走車程式為自行開發，運用微軟(Micosoft)開發之軟體 Visual Studio2015，並使用 C#(C Sharp)語法開發，系統撰寫分為兩部分，一為連結馬達驅動程式和編碼器編碼值判讀。而程式功能部分，也分為兩個步驟，第一步驟為輸入路徑，因本自走車考量為工廠端設計，故在路徑輸入採用預先行駛路徑一次，再將路徑及儲存於程式中，當下次要使用該路徑時，再將路徑從電腦中讀取使用，並讓自走車在場內行駛，驗證其路徑之再現性。

關鍵字

馬達回授值；自走車

並列摘要

This study emphasizes in the design and production of a low-cost and non-scanning lines of the floor-self-propelled vehicle. The self-propelled vehicle uses four auxiliary wheels to reduce the impact loading on the motor, power wheel suspension part of the support force is proposed, to avoid stress concentration in motor bearings which prevents damage to the motor. The bearing box combination is installed by two separate motors which prevents swinging back, thus causing the motor feedback value recording error. The self-propelled vehicle program was developed by using Microsoft Visual Studio2015 and the C # (C Sharp). The systems can be divided into two parts, one is for connecting the motor driver and encoder encoding the value of interpretation. The program section is also divided into two steps, the first step is to enter the path, for of the self-propelled vehicle terminal design considerations for the plant. The the input path using a travel route in advance, and then stored in the program path when using the secondary path, the path will be read from computer and check let the self-propelled vehicle inspection reproducibility of its path of travel.