臺灣博碩士論文加值系統

本論文旨在於發展一台智慧型割草機器人。割草機器人的控制核心為Microchip PIC 4520控制晶片，負責機器人車輪行走控制、刀片馬達控制、碰撞感測器控制，以及超音波感測器的訊號處理等。
割草機器人主要是用於割除草坪的工作，是為了能夠節省大量的人力資源與時間消耗，而且必須考慮割草機器人在草地上的驅動行走能力。割草機器人的設計包含了避開草坪上的各種障礙物，也要實現最大的割草覆蓋範圍，更使用了超音波感測器作為定位通訊的功能。此外，並以螺旋式的牛耕田作為割草機器人全域覆蓋的路徑規劃設計。

The goal of this thesis is to develop an autonomous lawn-mower robot. The core device of the robot is a Microchip PIC 4520 chip for controlling the robot moving, blade motor, collision sensors, and ultrasonic sensors’ signal processing.
Mowing robot is used to save a lot of manpower and time consuming for mowing a lawn. The driving capability of robot walking on the grass is considered. The usage of ultrasonic sensors’ positioning communication for avoiding various obstacles in the lawn and achieving maximum coverage of mowing is also included in the design of the mowing robot. Furthermore, the spiral boustrophedon used as the global coverage path planning is also implanted in the design of the mowing robot.

中文摘要 Ⅰ
Abstract Ⅱ
誌謝 Ⅲ
目錄 Ⅳ
圖目錄 Ⅶ
表目錄 Ⅹ
第1章 緒論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 文獻回顧 5
1.3.1 割草機器人文獻回顧 5
1.3.2 定位系統文獻回顧 12
1.3.3 路徑規劃文獻回顧 13
1.4 論文架構 14
第2章 割草機器人硬體設計與架構 15
2.1 割草機器人硬體設計 15
2.1.1 割草機器人系統架構 17
2.1.2 驅動系統設計 18
2.1.3 割草系統設計 20
2.1.4 避障系統設計 22
2.2 割草機器人控制系統介紹 24
2.2.1 割草機器人控制晶片 24
2.2.2 割草機器人控制電路 27
2.3 割草機器人硬體組件 28
2.3.1 割草機器人規格 28
2.3.2 鋰充電電池 29
2.3.3 電壓調整器 30
2.3.4 驅動晶片 31
2.3.5 光耦合器 33
2.3.6 車輪驅動馬達 34
2.3.7 刀片驅動馬達 36
2.3.8 無線通訊收發模組 37
2.4 感測器 39
2.4.1 超音波感測器 39
2.4.2 紅外線對射計數模組 40
2.5 硬體的選用與改良 43
2.5.1 割草刀具的選用 43
2.5.2 驅動機構的改良 46
第3章 系統的介紹與原理 49
3.1 系統流程 49
3.2 路徑規劃 51
3.3 超音波定位系統 54
3.3.1 定位系統的電路 54
3.3.2 三角定位法 55
3.3.3 定位系統的電路設計與流程 56
3.3.4 定位分析的設計 58
3.3.5 發射端與接收端系統流程 58
第4章 實驗結果與討論 60
4.1 割草實驗 60
4.2 螺旋式牛耕田路徑規劃實驗 62
4.3 自動回休息區實驗 64
4.4 割草效率實驗 66
第5章 結論與未來展望 68
5.1 結論 68
5.2 未來展望 69
參考文獻 70

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