異波速測距法應用於自走車的自動跟隨系統之研發

Developing the Auto-Following System of AGV using the Different Waves Distance Measurement Method

黃柏銘(Bo-Ming Huang)

指導教授 ： 葉隆吉

大同大學/工程學院/機械工程學系所/碩士(2009年)

摘要

摘要

　　本論文目的是開發一台以異波速測距法為基礎，可主動跟隨使用者運動，當使用者在行走時，自走車能夠與使用者維持一定的距離行走。
　　為了達成自動跟隨的功能，本文主要是利用無線電波與超音波傳遞速度不同的特性，開發一組測距系統，在使用者的腰間配戴發射模組，而在自走車上具有一組接收模組，以計算出使用者與自走車間的相對位置與距離。以單晶片微控制器Microchip PIC18F452為控制核心，利用車體上左右超音波接收器測得與發射模組的距離，得知自走車與使用者的相對關係，再加上紅外線距離感測器量測與障礙物的距離，進而採取模糊思考的思維，控制馬達達成自動跟隨與閃避障礙物的功能。
　　本研究以自製的測距模組，成功的開發了一部可自動跟隨使用者的自走車，並可閃避障礙物與使用者維持一定的距離跟隨。

關鍵字

自走車 ； 異波速測距法 ； 自動跟隨

並列摘要

Abstract

The purpose of this thesis is to develop an automatic guide vehicle (AGV) that based on using different waves distance measurement method. And it can also actively following the user’s movement; whenever the user goes, it will automatically follow the user. The car can also maintain a certain distance to the user during the following activity.
In order to achieve the feature of “auto-following”, utilization the different wave movement speed in the air between the “radio” and “ultrasonic” waves are used in this paper. A distance measurement system is developed here. When using the system, a set of projector is set up in the user’s waist, and a set of receivers are set in the car; use the transmitter and the receivers to determine and calculate the relative position and distance between the user and the car.
Microchip PIC 18F452 is used as the control core, utilize the ultrasonic receivers set on both right and left sides of the car, determinate the relative positions between the user and the car; furthermore, with additional infrared ray sensors to determinate the distance with the barriers. “Fuzzy thinking” method is then used to control the motor, and achieving the function of automatic following and barriers dodging.
This research adapted a self-made distance measurement system, successes developed an automatic guide vehicle that can automatically following the user, and maintain a certain distance; also includes the feature of barriers dodging.

並列關鍵字

auto-following ； different waves distance measurement ； AGV

參考文獻

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