- 學位論文
居家服務機器人設計與實現
Design and Implementation of a Home Service Robot
摘要
機器人科技可以滿足人類希望有人來服務的尊崇感，對於提昇人類的生活水準也有可預見的效果，因此不只科技業相當投入，建築業也希望藉此滿足人們對於居家服務品質的要求，因此本文以服務為導向研究如何針對居家服務進行居家服務機器人的開發，吾人整合了諸多機器人科技，完成了一個可以規劃與執行居家服務的機器人，而非只是一個遙控的機器人或一個機器人運作的技術。 本研究中歸納一個居家服務包含3要素1.路徑2.服務位置3.服務動作，為了方便設定路徑，吾人採用具觸控功能的面板，讓使用者可以快速且直覺的在地圖上設定路徑與服務位置，以功能分類的人機介面，方便使用者設定一個服務所需的各種動作，此外自動利用地圖資訊進行靜態障礙物避障，讓使用者更方便設定路徑，也減少系統進行導航所需的複雜度，並整合遙控器，讓使用者可以快速的選擇或啟動所需的服務。 本文藉由整合各硬體模組及易操控的人機介面，完成一個可提供端水、體操運動、求助的居家服務機器人，讓主人能夠方便的設定所需要的居家服務，更可快速的要求機器人提供服務，進而提昇人類的生活水準。
並列摘要
Robot technology can satisfy humankind’s hope of being served. It also has a foreseeable effect of raising our living standard. Not only the technology industry has launched itself into it considerably, also the building industry hopes to meet people’s need for residential service quality through this technology. This article attempts to study how to develop robots for home care service by a service oriented view. Rather than just a remote-control robot or a robot operating technique, the writer has consolidated numerous robot technologies and completed a robot which can be planned and execute home care services. This study induced that home care service consists of 3 elements: path, service position, and service operation. In order to facilitate path setting, the writer adopted a touch panel which allows the operator to set any path and position on a map, fast and instinctively. A function-based human-machine interface (HMI) enables the operator to set up various robot actions needed for a service. Besides, Static Obstacle Avoidance, which automatically utilizes the information on a map, allows the operator to set a path more conveniently. This also reduces complexity needed for the system to navigate. And remote control is integrated to let the operator choose or activate needed services swiftly. By consolidating hardware modules and an HMI which is easy to be manipulated, this study proposed a home care service robot which can serve up water, do gymnastic sport, and call for help service. It enables its master to conveniently set needed home care services and ask the robot to offer service more swiftly, thereby raising humankind’s living standard.