地面潔淨度檢測機器人之開發

本論文主要研究一台可自動對地面進行潔淨度採樣的自走車檢測系統，系統控制核心為單晶片微控制器Microchip PIC18F4520。在整體系統中分成兩大部分：第一部分為潔淨度採樣機構，設計機構中一凸輪結構用於上升與下降樣本採集區上的白色膠帶黏貼面，並以馬達捲動膠帶移動至攝影機攝影位置進行攝影，分析影像並取得潔淨度等級。本研究定義採樣機構後，對一般研究室地面的潔淨度透過簡單的影像處理進行系統化的研究，建立地面潔淨度的基準第二部分為自走車移動機構與控制，動力部分由兩顆直流馬達帶動左右車輪，並以單晶片進行運動及定位，另外設有兩組超音波測距模組測量車體軸線與牆面夾角用於車體運動方向修正。本論文以無線網路與串列傳輸進行車體與人機介面通訊，並以人機介面為進行採樣點設定與採樣數據回傳，進行地面潔淨度檢測。

關鍵字

機器人；地面；潔淨度；檢測

並列摘要

The aim of this study is to develop an automatic robot with the detecting system which can sample the ground's cleanliness automatically. The controlling center of the system adopts the embedded microcontroller-Microchip PIC 18F4520 . The overall system is divided into two parts. One is the structure is sampling having the cam to rise and fall the collection area. The motor will be used to scroll the tap and to move the position and to manipulate the camera to take the pictures. Thereafter, the analysis of the image to judge the level of the cleanliness will be performed. The other is the structure that will manipulate the automatic robot to move. The dynamic system includes two DC motors used to control the wheel and its position via a microcontroller. Another module with two ultrasound distance is used to measure the robot's body and the angle of the wall that can correct the robot's body. This study adopts a wireless network and a serial transmission to communicate the body with the human-machine interface. Moreover, not only the sampling number can be set but also the sampling data can be sent back for the ground cleanliness testing via the human-machine interface.