可自動跟隨的摺疊式三輪電動腳踏車之研發

The Development of A Folding Electrical Tricycle with Auto-Following Function

周群傑(Chun-Chien Chou)

指導教授 ： 葉隆吉

大同大學/工程學院/機械工程學系所/碩士(2010年)

摘要

本論文旨在是開發一台具自動跟隨功能的摺疊式三輪電動腳踏車，不但具有快速且簡便的摺疊機構，且收摺後可在使用者身後一定距離自動隨行。
本研究採實作開發方式，試作了兩台不同型式的摺疊式三輪電動車，第一版原型機車為前三點後兩輪全電動式三輪車不具踩踏功能，此車靠左右輪差速轉彎，前輪採用萬向輪。第二版原型機則採用後三點設計，前兩輪具動力且可轉向，後輪則與一般腳踏一樣可以踩踏方式使車前進。本文在此車上安裝自動跟隨控制系統，該系統以單晶片微控制器Microchip PIC18F452為控制核心，利用設在車體上左右兩端超音波感測器，結合一組無線電收發器，建構一套異波速測距系統，藉以得測移動載具與使用者的相對關係，進而採取模糊思考的思維，控制輪轂馬達達成自動跟隨的功能。另外，再加上紅外線距離感測器，藉以建構本車的閃避障礙物的功能。
本研究已成功的開發了一部具自動跟隨功能的摺疊式三輪電動腳踏車，收摺後可以用1.26 m/sec自動跟隨於使用者後方約一公尺處，轉彎半徑須大於2.25m，並可閃避障礙物。

關鍵字

自動跟隨 ； 輪轂馬達 ； 三輪電動腳踏車 ； 摺疊式 ； 紅外線

並列摘要

This thesis is to develop a auto-following function with folding electrical tricycle bike, not only with the quick and easy folding mechanism, and collapsed after the user automatically accompanied by a certain distance behind.
The development of an approach test were two different types of folding electrical tricycle, the first version of the prototype car for the first three spots, after all non-electric tricycle pedal features about the car by turning wheel differential , front wheel with caster. After the second edition of three prototype design is adopted, the first two rounds with power and can be turned, the rear foot is the same general way to make the car move can be walked on. In this paper, is located in the chassis with automatic tracking control system, the single-chip microcontroller of Microchip PIC18F452 was used as the core of control system ultrasonic sensors, combined with a group of radio transceivers constructed Yi Taodifferent velocities ranging system, in order to get mobile carriers and users of measuring the relative relationship between the fuzzy thinking and then thinking to control the wheel hub motors to reach the auto-following function. In addition, together with infrared distance sensors to build the car to avoid obstacles function.
This study has successfully developed an auto-following function with folding electrical tricycle bike, folding can be used after 1.26 m / sec automatically follow the user about one meter behind, turning radius must be greater than 2.25m, and can avoid obstacles.

並列關鍵字

folding ； infrared ； auto- following ； round valley motor ； three electric bicycle

參考文獻

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