自動掃面型機器人之研發

A Development on Automatic Sweep Robot

林彥志(Yen-chih Lin)

指導教授 ： 葉隆吉

大同大學/工程學院/機械工程學系所/碩士(2007年)

摘要

本研究的目的是開發具有路徑繪製及規劃的自動掃面型機器人，此機器人以Mircochip PIC18F452微控制器為核心，搭配六個紅外線距離感測器、802.11b無線串列傳輸模組和驅動機構。
整個系統中，微控制器負責DC Motor的速度控制、紅外線距離感測器類比數位轉換、處理與基地控制台(PC)之間的命令、資料傳輸及運算等功能，並透過無線串列傳輸模組與基地控制台溝通。而PC端的人機界面以Visual Basic 6.0 撰寫而成，主要負責路徑繪製及區域設定，進而控制機器人完成任務。路徑規劃的方式，首先利用右側巡邊並以設定的間隔距離自動完成區域的選取與認知，接著採用S型前進和避障模式完成整個區域的巡邏。
本研究成功開發了一部可自動定義區域，並自行避障，掃掠完已選取區域面積的自動掃面型機器人。

關鍵字

route mappping ； avoid obstacle ； route planning ； automatic sweep robot

並列摘要

The purpose of this research is to develop an automatic sweep robot with route mappping and planning. The robot uses Mircochip PIC18F452 micro-
controller as the core of the matter. It has six infrared(IR) distance sensors、an 802.11b wireless serial transmitting device and propelling mechanisms.
In the whole system, micro-controller is responsible for DC motors speed controlling、IR distance measured sensors A/D converting、dealing with the command、data transferring and operation between robot and console (PC) using the wireless serial transmitting device. The man-machine interface of PC end was written by Visual Basic 6.0. It manages route mapping and area setting then control the robot to finish the task. At first, the method of route planning utilizes right-side patrolling and set up the alternate distance to select and suppose the area automatically. Then adopting S-type and avoiding obstacle finish patrolling whole area.
The research has successfully developed an automatic sweep robot which sets up area automatically、avoids obstacle by itself and sweep all select area.

並列關鍵字

路徑繪製 ； 路徑規劃 ； 避障 ； 自動掃面型機器人

參考文獻

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