臺灣博碩士論文加值系統

本論文提出一種創新的超音波感測系統，利用三個超音波接收器，安排成正三角形排列，並且在三角形中央放置一個超音波發射器。配合發射和接收電路，再經由三個超音波接收器所接收的回波訊號，計算出凌空障礙物的座標位置，以協助盲胞做凌空障礙物的感測與預警，由於超音波衰減、溫度與濕度所造成測距精確度的影響等，會產生距離及座標計算上的誤差，本研究的感測範圍限定在盲人前方1至2公尺、±15度的範圍內，能夠計算出凌空障礙物的位置。，文中將探討與分析超音波接收器間距、測距誤差等因素導致計算上產生誤差的現象。

An ultrasonic positioning system is introduced in this thesis. The system has three sensors. These sensors are located at different apex of the equilateral triangle. An ultrasonic emitter is arranged at center of the equilateral triangle. With the emitter and the sensors, obstacles in front of the blind can be detected by using time-of-flight of the ultrasonic wave. Because amplitude recession, temperature and humidity can influence the measurement accuracy, deviation analysis is very important for the ultrasonic positioning system. An area of ±15°, 1 meter to 2 meters in front of the sensors has been evaluated. Some simulation results and conclusions are also given in this thesis.

中文摘要……………………………………………………………………………… i
英文摘要……………………………………………………………………………… ii
誌謝…………………………………………………………………………………… iii
目錄…………………………………………………………………………………… iv
表目錄………………………………………………………………………………… vi
圖目錄………………………………………………………………………………… vii
符號說明……………………………………………………………………………… xiii
第一章 緒論…………………………………………………………………………… 1
1.1 研究動機……………………………………………………………………… 1
1.2 相關研究介紹………………………………………………………………… 1
　　　1.2.1 電子式行進輔具………………………………………………………… 1
1.2.2 移動式機器人…………………………………………………………… 2
1.2.3 穿戴式輔具……………………………………………………………… 3
1.2.4 移動式手杖……………………………………………………………… 4
1.3 章節概述……………………………………………………………………… 5
第二章 超音波與超音波感測器介紹………………………………………………… 6
2.1 何謂超音波……………………………………………………………… 6
2.2 超音波的性質…………………………………………………………… 6
　　2.2.1 波速與波長的關係………………………………………………… 6
2.2.2 超音波的反射與折射……………………………………………… 7
2.2.3 超音波的損失……………………………………………………… 10
2.3 超音波感測器的基本理論……………………………………………… 10
2.3.1 超音波感測器的壓電效應………………………………………… 10
2.3.2 超音波感測器之等效電路………………………………………… 11
2.3.3 感測器的形式……………………………………………………… 12
2.3.4 超音波感測器之檢出方式………………………………………… 14
2.3.5 影響超音波感測器性能之因素…………………………………… 16
2.3.6 超音波感測器之類別……………………………………………… 18
2.3.7 超音波感測器之應用……………………………………………… 20
第三章 研究方法……………………………………………………………………… 21
3.1超音波定位計算誤差之關係………………………………………………… 21
第四章 模擬結果與分析……………………………………………………………… 26
4.1 模擬受測區域誤差…………………………………………………………… 26
4.2 模擬結果……………………………………………………………………… 26
4.2.1 座標N1之模擬結果…………………………………………………… 27
4.2.2 座標E1之模擬結果…………………………………………………… 43
4.2.3 座標S1之模擬結果…………………………………………………… 51
4.2.4 座標N2之模擬結果…………………………………………………… 59
4.2.5 座標E2之模擬結果…………………………………………………… 75
4.2.6 座標S2之模擬結果…………………………………………………… 83
第五章 結論…………………………………………………………………………… 92
參考文獻……………………………………………………………………………… 93
簡歷…………………………………………………………………………………… 95

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