沿牆噴灑消毒防疫自走車

Automatic mobile robot for disinfecting along the wall

古祺元(QI-YUAN GU)

指導教授 ： 邱謙松

中原大學/電機資訊學院/電機工程學系/碩士(2022年)

https://doi.org/10.6840/cycu202201717

摘要

摘要
本論文主要因為疫情嚴重防疫消毒人員人手不足為目的，發展一模糊控制及人體骨架辨識沿牆避障消毒自走車，可以彌補人手不足的問題與避免更多人員染疫的風險，使用抽水馬達噴消毒水搭配超音波感測器感測周圍環境障礙物達到避障效果，再透過網路攝影機與openopse來加強辨識是否前方有人避免碰撞。單晶片控制器使用NI myRIO-1990與arduion mega2560控制自走車，而模糊控制理論用單晶片來實現，先將超音波感測器偵測數值做模糊化，再透過openpose與超音波感測器去實現自走車沿牆走與人體、物體避障使其更穩定；自走車的部分使用直流馬達驅動器HB-25與馬達跟全向輪做移動。除了自走車在沿牆避障時在使用抽水馬達噴灑消毒水殺菌，還可以透過感測器去避開人與障礙物。最後透過實際模擬與結果展現出研究方法的可行性。本實驗與市售類似的自走車做比較，最大優點除了成本較低外，還有部分耗材與零件可在市面上找到代替去更換，也可把載體平台放置面積做修改調整即可因應執行場所的大小做設置移動。

關鍵字

模糊控制 ； openpose ； 全向輪 ； 馬達噴灑器

並列摘要

Abstract
In this thesis, the main purpose is to develop a fuzzy control along the wall for the automatic moving vehicle and the human skeleton identification for epidemic prevention and disinfection. The disinfection is paired with the ultrasonic sensors to sense obstacles in the surrounding environment and to avoid obstacles. The web camera and openopse softward are used to strengthen the identification of people avoid collision. The single-chip controller is implemented by NI myRIO-1990 and Arduion mega2560. The fuzzy control theory is implemented via a single chip. First, the ultrasonic sensors have a detection value to be fuzzed, and then the openpose and ultrasonic sensor are used to realize the self-propelled vehicle walking along the wall and the human body and objects. Obstacle avoidance makes it more stable; part of the self-propelled vehicle uses the DC motor drive HB-25, the motor, and omnidirectional wheels. In addition to stabilizing and avoiding the risk of insufficient personnel during the epidemic, it can also reduce the risk of infection. When avoiding obstacles along the wall, the bicycle uses a pump motor to spray disinfectant water for sterilization, and it can also use sensors to avoid people and obstacles. Finally, the feasibility of the research method is demonstrated through the actual simulation and results. If this experiment is compared with similar system on the market, the advantages are not only the lower cost, but also some consumables and parts can be found and replaced from the market. The placement area of the carrier platform can also be modified and adjusted, which can be set and moved according to the size of the execution site.

並列關鍵字

fuzzy control ； openpose ； omni-wheel ； motor sprayer

參考文獻

參考文獻

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