全方位自走車智慧型控制系統之研製

保全機器人的發展為近年機器人產業的焦點，開發著重於機器人本身的運動控制與導航，並有效的巡邏路徑規劃方法可提高自主式機器人在保全工作的輔助能力。本研究旨在發展保全機器人執行區域巡邏、影像傳輸與即時監控，提升保全機器人自主式更有效率執行保全任務的能力，系統設計係以現場可規劃閘陣列（Field Programmable Gate Array, FPGA）技術為主，結合直流馬達與全方位輪，透過FPGA電路設計控制馬達轉速，達到全方位移動功能，使保全機器人在狹小空間可以靈活行進；保全機器人裝設影像偵測模組，此影像偵測模組透過Wi-Fi無線傳輸影像，可藉由電腦端的VB(Visual Basic, VB)人機介面顯示畫面，此人機介面不但可看到畫面也能監控保全機器人的行動，且可透過網際網路監控保全機器人行動以及畫面顯示，達到即時監控的功能。另外本論文使用觸控面板與ZigBee無線模組結合，完成無線觸控面板控制器，使用者可藉由觸控面板無線控制保全機器人的行動，此觸控面板顯示簡易的介面。在介面中可以選擇控制模式、自走模式與巡壁模式。在安全防護方面，保全器人執行巡邏時，保全機器人會偵測四周的氣體，若有異常，保全機器人將透過蜂鳴器發出警告聲。最後本論文以電動輪椅為範例，將開發的智慧型系統實際應用至行動輔具。

關鍵字

保全機器人；現場可規劃閘陣列；觸控面板；全方位輪

並列摘要

The aim(s) of this thesis is to develop the security robot which is capable of the local patrol, image transmission and instant surveillance. Consequently, the robot will be more spontaneous and efficient at executing security missions. Combining the direct-current motor with the Omni-directional wheels, the system(atic) design is applied mainly to the Field Programmable Gate Array (FPGA).The rotation rate control of the motor and the Omni-directional shifts are realized by the FPGA circuit design. An image-detecting module is installed on the security robot and the images are transmitted through Wi-Fi. These images are displayed on the VB man-machine interface, which monitors the movement of the security robot through the Internet, and fulfills the instant surveillance. Besides, the controller of the wireless touch panel, which is made by the combination of the touch panel and ZigBee wireless module, is commanded by the user who is able to operate any movement of the security robot through the interface of the touch panel. The interface has three patterns: the control, the self-propelled and the wall following mode. Concerning with the protection, the security robot will detect the atmosphere in the surroundings while engaging with the patrol and sound the warning alarm through the buzzer when anything unusual is noted. Finally, regarding the electrically operated wheelchair as the instance in this thesis, I will pragmatically apply this intelligent equipment to the mobile assistive devices.