基於紅外線感測器與超音波感測器之跟隨機器人設計

Infrared -Sensor and Ultrasonic-Sensor Based Following Robot Design

江笠印(Li-Yin Jiang)

指導教授 ： 吳俊德

國立暨南國際大學/科技學院/電機工程學系/碩士(2017年)

摘要

近年來，機器人的發展越來越快速，種類也是五花八門，我們以自動跟隨的機器人為本論文的研究主題，本文介紹了一種方法用於自動跟隨的機器人系統。
首先，此機器人系統透過實驗平台中，紅外線感測器的發射與接收，來判讀以及比較差異，進而決定機器人移動的方向。其中我們使用了編碼器，將波型經由編碼以及計算，得其平台移動速度，選擇最佳執行模式，進行相應的動作來控制電機的旋轉。另外，由於紅外線感測器的位置距離會影響其精準度。
因此我們也嘗試了許多紅外線感測器在實際環境中運作的差異，並且記錄了各種不同模組所產生的結果以及優缺點，提供了仿真和實驗結果，以支持結論。

關鍵字

移動機器人 ； 超音波感應器 ； 紅外線感應器 ； 人工智慧

並列摘要

Nowadays, the service-oriented robot industries have been the focus of the national development. e.g., cleaning robot, intelligent robot, mobile robot, etc. This paper focuses on mobile robots. Generally, human-following robots are mostly based on image recognition, but image recognition still has many unsolved problems. In the market products, image recognition mostly uses acceptance mistake system because recognition results cannot achieve one hundred percent accuracy so it cannot be applied to precision control machine.
This thesis proposed a method to solve this problem. To use six ultrasonic sensors and eight infrared sensors. Ultrasonic sensors sense the values, and then compare the difference with each other sensors in order to decide which direction the mobile robot will move. When the robot is running the infrared sensors can detect obstacles, and the robot will avoid it. The experimental results proved the robot can effectively complete the task with five kilograms load and an emergent switch. In the future, these mobile robots can apply supervision-system, which will help our life easier and better.

並列關鍵字

Mobile Robot ； Ultrasonic Sensor ； Infrared Sensor ； Artificial Intelligence

參考文獻

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