應用於自走車的牆上電源插座自動搜尋及插頭自動插拔系統之研發

Wall Plug-in Power Supply System for AGV

溫峻宏(Jun-Hong Wen)

指導教授 ： 葉隆吉

大同大學/工程學院/機械工程學系所/碩士(2008年)

摘要

本論文旨在製作一個以影像處理技術為基礎的牆上插座自動搜尋及定位系統，並藉此導引一插頭插拔機構，進行自動插拔插頭的系統。控制核心為單晶片微控制器Microchip PIC18F452，系統架構包括由兩顆步進馬所組成的車體、一個具有2個自由度的機械手臂、六顆測距範圍10到 80公分的紅外線距離感測器、640X480解析度的 CMOS網路攝影機以及4個可供自走車工作約6小時之蓄電池組。追蹤之特定物體為一般牆上交流電源插座，PC 端的人機介面以Borland C++ Builder程式撰寫，主要負責影像處理及通訊溝通，控制系統利用CMOS攝影機擷取牆上影像，經由影像處理程序後導引自走車追蹤電源插座，再以影像測距，系統會先將自走車操控到平行牆面距離牆邊cm處時，機械手臂便自動將插頭插入。
本研究成功開發了一部可運用於不同環境，自行循牆找尋目標電源插座，並可自動插入與拔取插頭的系統。

關鍵字

機械手臂 ； 紅外線距離感測器 ； 影像測距

並列摘要

The purpose of this study is to design a self-propelled system which connects itself to an electric socket by directing automatic machinery to search and locate the socket on the wall based on image processing technology. The body of this system contains one Microchip PIC18F452 microcontroller as the core of the matter, a self-propelled unit made of two Stepping Motors, two mechanical arms, six infrared distance measured sensors which have 10-80 cm of detection distance, one CMOS webcam with 640x480 resolution, and four batteries supporting 6 hrs of operative time. The tracked target of this system is a regular electric socket on the wall. The man-machine interface is written by Borland C++ Builder, which principally processes the image and communication. The image of the electric socket on the wall is captured by CMOS camera and processed by image processing program to direct self-propelled unit of the system for approaching the socket. The body of this system moves toward and paralleled the wall until the distance to the wall is setting cm followed by plugging the plug into the
electric socket by mechanical arms.
This study successfully developed a self-propelled system which can be used in different environment and can search a regular socket for automatically charging itself.

並列關鍵字

Mechanical arms ； Infrared distance measured sensor ； Image process

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