自主移動機器人無線遠端監控系統之發展

Development of wireless remote inspection system for an autonomous mobile robot

陳怡君(I-Chun Chen)

指導教授 ： 陳冠宇 ； 張永鵬

中原大學/工學院/機械工程學系/碩士(2008年)

https://doi.org/10.6840/CYCU.2008.00013

摘要

隨著科技的日新月異及人力資源的縮減，利用機器人提供遠端監控與協助保全巡邏的應用是未來無法避免的趨勢。本文的研究目的為建立自主移動機器人的無線遠端監控系統，藉由無線網路架構得知機器人所處環境的即時狀態，當機器人處於無法自行處置的緊急狀態時，可由遠端行控中心進行召回或介入處理。當機器人在大樓內進行巡邏任務時，可透過結合攝影機及超音波感測器的環境感測系統使機器人得以接收即時環境資訊，並利用無線網路及網頁處理技術建構遠端即時監控系統。本文設計二項實驗以測試並驗證在遠端即時監控機器人的功能，其一為當機器人進行全程自主巡邏大樓的任務時，透過網頁監控系統，可以即時接收監看機器人所處環境的影像及機器人的巡邏狀態；其二為當機器人在執行任務時，遇到無法避開之障礙物，能自動緊急停止巡邏，並依照來時路徑回到巡邏起點。

關鍵字

避障 ； 自主移動機器人 ； 智能導航 ； 遠端監控系統

並列摘要

With the dramatic improvement of science and technology and with the brevity of human resources, the application and employment of remote inspection system and autonomous inspection system have been indispensable to our daily life. This study aims to set up a remote inspection system of an autonomous mobile robot. Through the application of wireless network construction, the researcher is able to make under control the status of the robot synchronously. When the robot is in an emergent situation, remote inspection system is used to guide it back for maintenance. A robot, when it is on patrol within a building, receives synchronous instructions via camera and environment sensing system of ultrasonic sensors. In addition, through the manipulation of wireless network and homepage processing technology to set up the remote inspection system, the robot is well monitored. Two experiments were designed to test and verify the remote inspection of the robot. One is made, with the integration of monitoring homepage system, to immediately receive and monitor the environment information and patrol condition while the robot is carrying out its patrol mission independently. The other experiment is designed to give instructions to the robot, while carrying out its mission of stopping patrolling and of returning back to its starting place urgently.

並列關鍵字

autonomous mobile robot ； remote inspection system ； obstacle avoidance ； intelligent navigation

參考文獻

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