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| 研究生： |
李銘 Min - Lee |
|---|---|
| 論文名稱： |
大型自主清潔機器人之開發 Development of a large autonomous cleaning robot |
| 指導教授： |
林其禹
Chyi-Yeu Lin |
| 口試委員: |
李維楨
Wei-Chen Lee 邱士軒 Shih-Hsuan Chiu |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工程學院 - 機械工程系 Department of Mechanical Engineering |
| 論文出版年： | 2013 |
| 畢業學年度： | 101 |
| 語文別： | 中文 |
| 論文頁數： | 49 |
| 中文關鍵詞： | 清潔機器人 、全自主機器人 、掃地機器人 、抹地機器人 、大型公共空間 |
| 外文關鍵詞： | Cleaning robots, autonomous robots, sweeping robots, mopping robot, large public space |
| 相關次數： | 點閱：303 下載：23 |
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本研究之目的是設計一部適合用於一般大型公共場所，如機場環境狀況的清潔機器人。本研究中參考現有掃地機與洗地機的功能進行設計，並且參考現有的餐車機器人作為機電系統基礎。在硬體的設計部分，利用Solidworks軟體進行機器人外型與內部機構的設計，並使用AutoCAD軟體出圖交由工廠加工。在機電系統部分整合了超音波測距與雷射測距儀，並且配合自行開法的多種智慧型軟體，發展一部具備自主避障、掃地與拖地功能的智慧型清潔機器人。
The main object of the research is the development of the autonomous cleaning robot for large public space, e.g. hypermarkets and airport terminals, instead of ordinary consumer products for household. I made reference to the existing electromechanical systems of diner robot as a basis. The robot’s appearance and mechanics was designed in Solidwork and AutoCAD. The robot is designed to conduct complete cleaning actions of both sweeping and mopping the floor, to avoid the obstacles while in motion.
[1] iRobot 公司Roomba，http://www.irobot.com/home.cfm (2013.07.23)
[2] 日立公司家用清潔機器人，http://kadenfan.hitachi.co.jp/robot/ (2013.07.23)
[3] 松下電器http://www.panasonic.com/flash.html (2013.07.23)
[4] V4 智慧型吸塵器機器人http://www.floorbotics.com/ (2013.07.23)
[5] Trilobite 機器人http://trilobite.electrolux.co.uk/ (2013.07.23)
[6] RL1000, http://www.friendlyrobotics.com/ (2013.07.23)
[7] 日本富士重工http://www.fhi-clean-robot.jp/robot_seisou.htm (2013.07.23)
[8] Lawitzky, G., "A navigation system for cleaning robot," AUTONOMOUS ROBOTS,volume: 9, Issue: 3, pp: 255-230, 2000
[9] Palacin, J., Salse, J.A., Valganon, L. and Clua, X., "Building a mobile robot for a floor-cleaning operation in domestic environments,” IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, volume: 53, Issue: 5, pp: 1418-1424, 2004
[10] Li, Y., Li, C. and Zhang, Z., “Search strategy of path for mobile robot,” Vehicular Electronics and Safety, 2005. IEEE International Conference, Irvine, USA, pp:222 – 227,2005.
[11] Rous, M., Lupschen, H. and Kraiss, K., “Vision-Based Indoor Scene Analysis for Natural Landmark Detection,” Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference, Irvine, USA, pp:4642 – 4647,2005.
[12] Fernandez, D. and Price, A., “Visual detection and tracking of poorly structured dirt roads,” Advanced Robotics, 2005. ICAR '05. Proceedings.,12th International Conference on July 18-20, Seattle, WA, pp:553 – 560,2005.
