- 學位論文
具自動收放電源線的自走車之開發
Apparatus for Continuous Automatic Spooling of AGV Power Supply System
摘要
本論文主要研究一台可以自動收放電源線之清掃的自走車系統，系統的控制核心為單晶片微控制器PIC18F452。在整體系統中自走車主要由兩顆步進馬達為動力的車體，車上搭載六個紅外線感測器，用來偵測障礙物，並推算感測器與障礙物的實際距離(cm)。另外設計一個具有三方向電線張力感測開關的電源線收放控制機構，用來偵測自走車電源線收放的控制時機；以及一個由直流馬達控制的電源線收納盤，自走車電源由四顆12v鉛蓄電池提供。 本論文自走車利用紅外線巡牆行走後，便等待電源插頭插入(另ㄧ位同學的論文研究)，當插頭插入即進入打掃模式並以弓字型打掃地面，接著利用電源線收放控制機構來對電源線的長短做收線和放線的控制，當打掃任務完成，自走車一面循牆行走一面收起電源線回到插座區。實驗結果證實清掃自走車能在清掃任務過程中有效的對電源線做出收線和放線動作。
並列摘要
This thesis focuses on the mobile cleaning robot which could gather and loose the power line automatically. The robot uses Single-Chip Microcontroller PIC18F452 as the core of the matter. The body of the robot is made up of two stepping motors, six infrared ray sensor which detects obstacles and calculates the real distance(cm) between the sensor and obstacles. Besides, designing one power line rewinding controller which posesess the electric-wire tension sensor switch to detect the rewinding control opportunity of the power line of the robot；one power line collector controlled by a DC motor. The power of the robot offered by four 12v lead- storage batteries. When utilizing the infrared ray for wall following walking, it has waited for the plug to be inserted(another classmate’s thesis); it has entered into sweeping pattern and cleaned in S-type after the plug inserted, then using the controller to control the length of the power line; when finished the cleaning task, it walked along the wall and packed up the power line in the meantime, and get back to the socket area. The experimental result proved that the robot could gather and loose the power line effectively during the cleaning process.