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研究生： 陳柏安
Po-an Chen
論文名稱： 室內自走機器人之定位系統設計和實作
Localization system and path control for indoor service robots
指導教授： 林其禹
Chyi-Yeu Lin
口試委員: 李維楨
Wei-chen (George) Lee
陳亮光
Liang-kuang Chen
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： 2012
畢業學年度： 100
語文別： 中文
論文頁數： 52
中文關鍵詞： 自走機器人 、室內定位感測器 、天花板的地標點
外文關鍵詞： autonomous mobile robot, indoor positioning sensor, ceiling landmarks
相關次數： 點閱：302  下載：8 
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    • 本研究主要目的為設計製作一輪型自走機器人，能夠利用天花板的地標點來達成室內環境移動及定位，使其可應用在餐廳送菜和辦公室文件傳遞等室內工作。自走機器人室內定位感測器的硬體部分是採用紅外線發射器以及攝影機，經由影像處理來計算位置與方向，配合自己以Borland C++ Builder撰寫的控制系統來達到移動的功能。本系統首先利用結合室內定位感測器與天花板的地標點而建立的空間座標系，使機器人在這個空間中可以得知目前的位置與方向。目前實驗室正在開發這套新的室內感測器系統，希望之後能將這套系統應用在各式服務型機器人上面。機器人使用直流馬達做為動力來源，以脈波寬度調變(PWM)來控制馬達速度，中央控制端使用筆記型電腦及微控制器做為系統核心，負責處理感測器訊號輸入及馬達驅動命令輸出。

    The main purpose of this research is to design a wheeled autonomous mobile robot which can be used to serve dishes in restaurant, delivery documents in the office and perform many other indoor works. The hardware part of the indoor robot comprises the infrared transmitter and the camera, through the image processing techniques to calculate the position and the orientation of the robot, and uses the control system coded with the Borland C + + Builder to achieve the mobility of the robot with the system, firstly, use the indoor positioning sensor and the ceiling landmarks to create a space coordinate system, by that position and the orientation of the robot in this space will be revealed. Our laboratory is developing this new interior sensor system, hoping that system can be applied on the indoor service robots in the near future. DC motors are used to drive the robot and the motor speed control is executed through Pulse Width Modulation (PWM). The laptop is used as the central control terminal and a microcontroller used to process the sensor signal and output the motor commands.

    摘要………………………………………………………………………………………………………………………………………………………………………………………………………I Abstract…………………………………………………………………………………………………………………………………………………………………………………………II 誌謝…………………………………………………………………………………………………………………………………………………………………………………………………III 目錄……………………………………………………………………………………………………………………………………………………………………………………………………IV 圖目錄…………………………………………………………………………………………………………………………………………………………………………………………………VI 表目錄………………………………………………………………………………………………………………………………………………………………………………………………VII 第1章 緒論…………………………………………………………………………………………………………………………………………………………………………………1 1.1 前言…………………………………………………………………………………………………………………………………………………………………………………1 1.2 文獻回顧…………………………………………………………………………………………………………………………………………………………………………1 1.3 研究動機與目的……………………………………………………………………………………………………………………………………………………………2 1.4 論文架構…………………………………………………………………………………………………………………………………………………………………………2 第2章 系統架構與感測器原理………………………………………………………………………………………………………………………………………………3 2.1 整體系統架構概述…………………………………………………………………………………………………………………………………………………………3 2.2 硬體系統架構介紹…………………………………………………………………………………………………………………………………………………………4 2.2.1 電源供應分配…………………………………………………………………………………………………………………………………………………………………5 2.2.2 中央控制與輸出部分……………………………………………………………………………………………………………………………………………………5 2.2.3 馬達選用…………………………………………………………………………………………………………………………………………………………………………7 2.2.4 馬達驅動器選用……………………………………………………………………………………………………………………………………………………………7 2.3 室內定位感測器……………………………………………………………………………………………………………………………………………………………8 2.3.1 StarGazer室內定位感測器……………………………………………………………………………………………………………………………………8 2.3.2 StarGazer Landmark說明…………………………………………………………………………………………………………………………………9 2.3.3 自行開發的定位感測器……………………………………………………………………………………………………………………………………………10 2.3.4 自製Landmark說明…………………………………………………………………………………………………………………………………………………10 2.3.5 StarGazer Landmark與自製Landmark比較……………………………………………………………………………………………14 第3章 定位系統介紹………………………………………………………………………………………………………………………………………………………………16 3.1 StarGazer 定位感測器………………………………………………………………………………………………………………………………………16 3.2 自行開發的定位感測器……………………………………………………………………………………………………………………………………………18 第4章 定位策略及控制策略…………………………………………………………………………………………………………………………………………………24 4.1 建立空間的座標系………………………………………………………………………………………………………………………………………………………24 4.1.1 實際建立座標系…………………………………………………………………………………………………………………………………………………………24 4.2 控制策略介紹………………………………………………………………………………………………………………………………………………………………28 4.2.1 控制系統說明………………………………………………………………………………………………………………………………………………………………29 第5章 自走機器人定位實測…………………………………………………………………………………………………………………………………………………31 5.1 實測環境介紹………………………………………………………………………………………………………………………………………………………………31 5.2 實測結果………………………………………………………………………………………………………………………………………………………………………32 5.2.1 StarGazer 室內定位感測器………………………………………………………………………………………………………………………………32 5.2.2 自行開發的定位感測器……………………………………………………………………………………………………………………………………………33 5.2.3 自走機器人之實際運行狀況……………………………………………………………………………………………………………………………………34 第6章 結論與未來展望…………………………………………………………………………………………………………………………………………………………36 6.1 結論………………………………………………………………………………………………………………………………………………………………………………36 6.2 未來展望………………………………………………………………………………………………………………………………………………………………………36 參考文獻……………………………………………………………………………………………………………………………………………………………………………………………38 附錄……………………………………………………………………………………………………………………………………………………………………………………………………40 附錄A微控制器詳細規格………………………………………………………………………………………………………………………………………………………………40 附錄B馬達詳細規格…………………………………………………………………………………………………………………………………………………………………………41 附錄C馬達驅動器規格……………………………………………………………………………………………………………………………………………………………………42 附錄D landmark規格…………………………………………………………………………………………………………………………………………………………………42 附錄E紅外線發射器規格………………………………………………………………………………………………………………………………………………………………43 附錄F網路攝影機規格……………………………………………………………………………………………………………………………………………………………………43 作者簡介……………………………………………………………………………………………………………………………………………………………………………………………45

    [1] S. Y. Lee and J. B. Song, “Use of Coded Infrared Light as Artificial Landmarks for Mobile Robot Localization,” Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1670-1675.
    [2] R. Tsubota, N. Noguchi and A. Mizushima, “Automatic Guidance with a Laser Scanner for a Robot Tractor in an Orchard,” Automation Technology for Off-Road Equipment, Kyoto, Japan, October, 2004.
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    [4] S. Y. Lee and J. B. Song, “Mobile Robot Localization using Infrared Light Reflecting Landmarks,” International Conference on Control , Automation and Systems 2007 Oct. 17-20.
    [5] S. Y. Lee, “Use of infrared light reflecting landmarks for localization,” Industrial Robot: An International Journal 36/2 (2009) 138–145.
    [6] Jingchuan Wang and Weidong Chen, “A Novel Localization System Based on Infrared Vision for Outdoor Mobile Robot,” K. Li et al. (Eds.): LSMS/ICSEE 2010, LNBI 6330, pp. 33–41, 2010.
    [7] A. H. Ismail, H. R. Ramli, M. H. Ahmad and M. H. Marhaban, “Vision-based System for Line Following Mobile Robot,” IEEE Symposium on Industrial Electronics and Applications, Vol. 2, pp. 642-645, 2009.
    [8] R. J. Mitchell, “Improved Learning for a Simple Mobile Robot,” UKACC International Conference on Control '98 (Conf. Publ. No. 455), Vol. 2, pp. 1670-1675, 1998.
    [9] N. B. Priyantha, A. Chakraborty and H. Balakrishnan, “The Cricket Location-Support system,” 6th ACM International Conference on Mobile Computing and Networking, Boston, USA, August 2000.
    [10] Songmin Jia, Jinbuo Sheng, Erzhe Shang and Kunikatsu Takase, “Robot Localization in Indoor Environments Using Radio Frequency Identification Technology and Stereo Vision,” Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.
    [11] 黃英哲，智慧型機器人輪椅RFID室內定位規劃，元智大學ME567老人福祉科技研究中心碩士論文，民國98年。
    [12] StarGazer介紹http://www.idminer.com.tw/product01.php?product_proid=59
    [13] 無刷馬達驅動技術介紹，取自
    http://www.robotworld.org.tw/index.htm?pid=10&News_ID=3257
    [14] 孫清華，最新無刷直流馬達，全華圖書，民國91年。
    [15] 無刷馬達驅動，取自http://letsmakerobots.com/node/2876
    [16] PWM, from http://www.arduino.cc/en/Tutorial/PWM
    [17] StarGazerTM User’s Guide.
    [18] Atmel ATmrga328, from
    http://www.atmel.com/dyn/products/product_card.asp?category_id=163&family_id=607&subfamily_id=760&part_id=4198

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