協作式載物機器人之研究

Research of Cooperative Object-Carrying Robots

吳國榮(Kuo-Jung Wu)

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(2021年)

https://doi.org/10.6837/ncnu202100122

摘要

本論文提出一個藉由不同週期的超音波訊號來同時控制複數機器人的方法，達到複數機器人以隊伍的方式跟隨操作人員。運用紅外線感測器來判斷與障礙物的距離，來有效地避開障礙物。再使用超音波感測器來判斷發射源與接收處的位置，同時使用不同週期的訊號達成1號機器人跟著操作員而2號機器人能跟著1號機器人的目的。
實驗結果發現在實際環境下機器人能夠準確的判斷訊號來源方向來達成列隊跟隨訊號發射源並且避開障礙物。此功能可以應用在倉庫的自動搬運機器人。

關鍵字

載物機器人 ； 紅外線感測器 ； 中央處理器 ； 超音波感測器

並列摘要

This thesis proposes a method to control multiple robots at the same time by using ultrasonic signals of different periods, so that the robots can follow the operator in line. Use infrared sensors to judge the distance to obstacles to effectively avoid obstacles, then the ultrasonic sensors are used to determine the location of the transmitter and receiver, and use the signals of different periods to make the robot 1 following the operator and the robot 2 follow the robot 1.
The experimental results found that the robot can accurately determine the direction of the signal source in the actual environment to achieve to follow the emitter in line and avoid obstacles. This function can be applied to automatic handling robots in warehouses.

並列關鍵字

Carrying Robot ； Infrared Sensors ； CPU ； Ultrasonic Sensor

參考文獻

References

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