- 學位論文
水陸兩棲偵查機器蛇暨同步控制板之研究
The Research of Amphibious Investigating Snake Robot and Synchronous Control Board
摘要
蛇的結構與行動方式是經過千萬年將其優勢保留而演化而成的，而他的移動模式能突破種種的地形障礙，且蛇具有在陸地與水中移動的特性，而本研究的概念正來自如此，希望藉由蛇的滑溜特性以及蛇的關節結構來達到進入各種未知角落或是危險環境來代替人類進行各種艱困的偵搜、探索或特殊任務，減少寶貴人命的損傷。 本研究的水陸兩棲偵查機器蛇硬體部分，是由10顆以上韓國ROBOTIS公司生產的AI馬達，型號為MX-106，搭配計算好齒輪比的齒輪以及用SolidWorks所繪出的特殊十字結構，再以3D列印技術將結構所列印出成品，每一節由2顆MX-106所構成機器蛇的關節部分，再以法蘭結構將本機器蛇變成模組化且具有防水功能，使用者可以依照需求快速增減機器蛇節數，因此本機器蛇擁有10個以上的可動自由度，而本機器蛇頭部可以安裝各種感測器以及攝影機，將可應用在地震或災難現場偵查與尋找生還者，或是可在危險的環境進行現場環境數據回傳。 本研究的水陸兩棲偵查機器蛇軟體及電路部分，先以韓國ROBOTIS公司生產的控制板，型號為CM-700，進行機器蛇陸地及水中的各種步態測試，而每種步態運動是藉由AI馬達的細微角度變化而產生的，再將其數據紀錄下來進行微調，而因CM-700並非是同步運動且因馬達會受瞬間電壓影響而導致扭力有所增減，所以本研究的機器蛇是以另外自行製作的控制板達到穩壓及同步的功能，讓機器蛇能夠達到最好的狀態。 同步控制板是選用ATmega328/P微處理器為主要核心，本同步控制卡有三組UART組成，UART1是用來連接藍芽模組、WIFI模組、XBEE模組、網路模組等等相關的控制模組使用，而UART2是用來與主控制板溝通，UART3是將晶片的TTL訊號透過RS485電路。 將TTL訊號轉換為RS485以便與AI馬達(MX-106)溝通使用，周邊電路有時間電路、EEPROM電路、升降壓模組，時間電路是用來與主控板對時使用，EEPROM則是用來記錄主控板的狀況，升壓模組是讓AI馬達(MX-106)能夠使用穩定的電源以發揮出最大的扭力，而降壓模組則是將電壓降至5V供給ATmega328/P以及時間電路、EEPROM電路作為使用。 同步原理分為兩種，一種是各控制板與主控板對準時間後由UART2接收主控板發送的馬達資訊以及執行時間，等觸發時間一到，各控制板立即執行主控板發送的馬達資訊，以達到同步效果。 第二種是各控制板接收到主控板的馬達資訊後等待主控板發送執行指令後，各控制板馬上執行主控板發送的馬達資訊，以達到同步效果，以此原理解決CM-700無法同步控制AI馬達(MX-106)以及AI馬達(MX-106)電源不足的問題。
並列摘要
The structure and action way of snake evolves by retaining its advantages during millions of years. Its moving method can break all the obstacle of terrain, and also has the characteristics moving both land and liquid. According to this, it becomes our research’s concept. We hope the slippery surface and the structure of joints substitute people to enter any unknown place and dangerous environments to do any hard investigation, discovery, and special task, decreasing the damage of people precious life. The hardware of amphibious reconnaissance mechanical snake in our research is used above 10 AI motor, made by Korea ROBOTIS company, type MX-106, with gear which calculated gear ratio and the special cross structure painted by SolidWorks. All structures print by 3D print technology. Each section of the mechanical snake’s joint is made by 2 MX-106, and having modular design with waterproof by Flange Structure. Users can quickly change the mechanical snake’s sections according their needs, so this snake own above 10 mobility degree of freedom. And this mechanical snake’s head can install every sensors and camera to investigate and search survivor in earthquake, disasters or return site environment data in dangerous place. The software and circuit of amphibious reconnaissance mechanical snake in our research first is used the control panel made by Korea ROBOTIS company, type CM-700. And test the snake’s various gait in land and liquid. Every gait is controlled by the subtle angle changes of AI motor, and record the data then go on minute adjustment. Although the CM-700 is not synchronous moving panel and the torque of motor will increase or decrease by the influences of instantaneous voltage, we made other control panel by ourselves to achieve stable voltage and synchronous moving. We hope the mechanical snake be wonderful situation. We design a synchronized control board, using ATmega328/P as the main core. There are three UARTs on this ATmega328/P. The first is to connect with BLT module, WIFI module, XBEE module and Ethernet module etc. The second is to communicate with main controller and the third is to control the MX-106 with the RS485 signal. The circuits around ATmega328/p have timer circuit used to provide precious time to controller, EERPOM circuit used to record the condition of main controller and voltage module divided into boost-circuit and buck-circuit, which are the former is to supply a stable voltage to keep the motor moving steadily and the latter is to buck voltage to 5V supplying to Atmega328/P, timer circuit and EEPROM circuit. As for the theory of synchronization has two parts, which is the first is to wait all the sub controllers to have the same time of main controller. After UART2 receives the motor’s information, all the sub controllers would perform the information from the main controller, which we called synchronization. The second is that all the sub controller would wait for a time after the main controller send the information. When sub controller receives this information, the main controller would execute the information to accomplish the effect of synchronization. The two ideas above can also solve the problem that the CM-700 controller unable to make AI-motors run synchronously.