本研究主要目的為設計製作一輪型自走機器人，能夠利用簡單的循軌跡線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。自走機器人的導引系統是採用反射式紅外線感測元件所製作成的循跡感測器，配合地面鋪設黑色循跡線來達到移動的功能，並在特定的循跡路線位置上設置提示地標點(Landmarks)，使系統得知目前位置及何時有分岔路線，如此即可選擇不同方向路線並移動至目的地。機器人上配置有超音波距離感測器，用來感測移動過程中是否有障礙物阻擋，使得自走機器人能即時煞車避免碰撞。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，中央控制端使用單板電腦(SBC)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，並以Borland C++ Builder所編寫設計之人機介面(User Interface)配合觸控面板(Touch Panel)來完成使用者下達命令或修改循跡路線參數等功能。

The main purpose of this research is to design a wheeled autonomous mobile robot which can be used to serve food in restaurant, delivery documents in the office and many other indoor works. The guiding system of the robot is the line following sensor set composed by reflective infrared optical sensor to detect the trajectories, so as to achieve the function of autonomous moving. The trajectories are defined by black lines which allow the robot to track and know where to move. The robot can move along the proper one from the different routes and move to the requested destination. The robot deploys the ultrasonic distance sensor for detecting the obstacles and avoiding collision. In this thesis, DC motors are used to drive the robot and the motor speed control is executed through Pulse Width Modulation (PWM). The single board computer (SBC) is used as the central control terminal and a microcontroller used to process the sensor signal and output the motor commands. The user interface is edited in Borland C++ Builder. A touch panel has been adopted to give orders to the system or setting the trajectories parameters.

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