(3.238.130.97) 您好!臺灣時間:2021/05/09 02:44
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果

詳目顯示:::

我願授權國圖
: 
twitterline
研究生:郭懿慧
研究生(外文):Yi-HueiKuo
論文名稱:沙灘清潔機器人系統之研製
論文名稱(外文):Design and Implementation of a Beach Cleaning Robot System
指導教授:周榮華周榮華引用關係
指導教授(外文):Jung-Hua Chou
學位類別:碩士
校院名稱:國立成功大學
系所名稱:工程科學系
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:2016
畢業學年度:104
語文別:中文
論文頁數:45
中文關鍵詞:Rocker Bogie清潔機器人沙灘
外文關鍵詞:Cleaning RobotRocker BogieBeach
相關次數:
  • 被引用被引用:2
  • 點閱點閱:131
  • 評分評分:系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
本論文旨在研製一沙灘專用的清潔機器人,其清掃對象主要設定為寶特瓶及鐵鋁罐等大小的廢棄物。為了適應沙地這樣不易於一般載具移動的地形,機器人以Rocker Bogie的結構作為底盤。機器人以微處理器dsPIC30F4012以及dsPIC30F4011作為主要的控制晶片,用以驅動馬達、以及處理感測器的訊號等;並使用CAN Bus作為各晶片間的通訊界面,而以RS-232聯絡主要晶片與電腦端。本論文機器人備有雷射感測器搭配360度的旋轉鏡面,作為周遭地形偵測、避障用途;且設有影像感測器,偵測海岸線邊緣,避免機器人誤入海中,確保工作的安全區域;並以GPS定位系統來確認與指定其清掃區域。
In this study, a beach cleaning robot system is designed and implemented. The goal is to clean beach trashes with a size as big as normal-sized PET bottles or beverage cans. To move around a beach of which the surface is bumpy and uneven, the main body of the robot is made of the structure called rocker bogie. The brain of the robot is consists of microcontrollers dsPIC30F4011 and dsPIC30F4012 which have flash memory to allow developers to burn and write control programs repeatedly. The microcontrollers are used both to control the motors which drive the robot to move and to process signals received from the sensors. Furthermore, the microcontrollers communicate with each other by CAN Bus and the main chip communicates with a personal computer by RS-232.

The sensors include a ranging laser, a webcam, and a Global Positioning System (GPS) on the beach cleaning robot system. The laser is assembled with a mirror specifically made to rotate 360 degrees continuously for environmental ranging detection and obstacle avoidance. The webcam is used for coastline detection so that the system can prevent the robot from going into the sea. Because of the vast expanse of the beach, the robot needs a GPS for its localization and proper movement. By cooperating the sensors with each other properly, the robot can execute the tasks well.

摘要 I
Extended Abstract II
致謝 VII
目錄 VIII
表目錄 XII
圖目錄 XIII
第一章 緒論 1
1.1前言 1
1.2研究動機與目的 2
1.3文獻回顧 2
1.3.1 Rocker Bogie 文獻回顧 2
1.3.2 感測器文獻回顧 3
1.3.3 路徑規劃文獻回顧 5
1.3.4 清潔機器人文獻回顧 6
1.4論文架構 9
第二章 機器人系統設計與系統架構 10
2.1 系統架構與硬體設計 10
2.2 Rocker Bogic 機構設計 12
2.2.1 Rocker Bogie 原始設計 12
2.2.2 沙灘清潔機器人之Rocker Bogie 13
2.3 驅動系統 15
2.3.1 皮帶驅動 15
2.3.2 挖砂胎 17
2.4 清潔機構 18
2.5 硬體規格 19
2.5.1 微處理器 19
2.5.2 微處理器之通訊介面 20
2.5.3 馬達與電源系統 21
2.6 感測系統 22
2.6.1 Logitech網路攝影機 23
2.6.2 雷射感測器 23
2.6.3 全球定位系統(GPS) 25
第三章 軟體系統 30
3.1 系統流程 30
3.2 沙灘影像辨識 30
3.2.1 RGB轉HSV 31
3.2.2 二值化 31
3.2.3 形態學運算 32
3.2.4 直方圖 33
3.2.5 迴歸分析 33
3.3 牛耕田路徑規劃 33
第四章 實驗結果與討論 35
4.1雷射感測器具離量測實驗 35
4.2 雷射感測器環境偵測實驗 36
4.3 GPS定位實測 37
4.4 海岸線辨識實驗 38
4.5 機器人行走距離實測 39
第五章 結論與未來展望 41
5.1 結論 41
5.2 未來展望 41
參考文獻 42

[1]R. A. Lindemann, C. J. Voorhees, Mars exploration rover mobility assembly design, test and performance
[2]S. Lee , S. Huh , S. Park , and D. H. Shim, Development of an exploration rover platform for sample return mission, The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2014) ,Nov. 12 - 15, 2014 at Double Tree Hotel by Hilton, Kuala Lumpur, Malaysia
[3]D. Choi, J. R. Kim, S. Cho, S. Jung, J. Kim, Rocker-Pillar : Design of the rough terrain mobile robot platform with caterpillar tracks and rocker bogie mechanism, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 7-12, 2012. Vilamoura, Algarve, Portugal
[4]D. Choi, J. Oh and J. Kim, Analysis method of climbing stairs with the rocker-bogie mechanism, Journal of Mechanical Science and Technology 27 (9) (2013) 2783~2788
[5]陳志豪, 基於紅外線感測器之清潔機器人導航設計, 國立交通大學碩士論文, 2004.
[6]林于琬, 以超音波感測器建立自走車環境地圖之研究, 國立成功大學碩士論文, 2005.
[7]G. Lawitzky, A navigation system for cleaning robots, in Autonomous Robots, vol. 9, pp. 255-260, Dec 2000.
[8]Y. Li, C. Li, and Z. Zhang, Search strategy of path for mobile robot, in 2005 IEEE International Conference on Vehicular Electronics and Safety, Xi'an, Shaan'xi, China, 2005, pp. 222-227.
[9]C. Castejon, D. Blanco, and L. Moreno, Compact modeling technique for outdoor navigation, IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans, vol. 38, pp. 9-24, 2008.
[10]M. Rous, H. Lupschen, and K. F. Kraiss, Vision-based indoor scene analysis for natural landmark detection, in 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 4642-4647.
[11]D. Fernandez and A. Price, Visual detection and tracking of poorly structured dirt roads, Seattle, WA, United states, 2005, pp. 553-560.
[12]K.-D. Kuhnert, Software architecture of the Autonomous Mobile Outdoor Robot AMOR, in 2008 IEEE Intelligent Vehicles Symposium, IV, Eindhoven, Netherlands, 2008, pp. 889-894.
[13]M. Agrawal, K. Konolige, and R. C. Bolles, Localization and mapping for autonomous navigation in outdoor terrains: A stereo vision approach, in 7th IEEE Workshop on Applications of Computer Vision, WACV 2007, Austin, TX, United states, 2007, p. IEEE Computer Society.
[14]張銘祥, 具友善人機介面之智慧型戶外清潔機器人, 國立成功大學博士論文, 2010.
[15]J. S. Oh, Y. H. Choi, J. B. Park, and Y. F. Zheng, Complete coverage navigation of cleaning robots using triangular-cell-based map, IEEE Transactions on Industrial Electronics, vol. 51, pp. 718-726, 2004.
[16]V. Sommer and A. Rocher, A New Exploration Strategy for Mobile Robots based on a Cost Function Approach, in IEEE International Conference on Intelligent Robots and Systems, Las Vegas, NV, United states ,2003, pp. 1697-1702.
[17]林宗德, 居家清潔機器人之全域覆蓋路徑規劃與實現, 國立成功大學碩士論文, 2005.
[18] H. Choset, Coverage of known spaces: The boustrophedon cellular decomposition, Autonomous Robots, vol. 9, pp. 247-253, 2000.
[19]P. Fiorini and E. Prassler, Cleaning and household robots: A technology survey, Autonomous Robots, vol. 9, pp. 227-235, 2000.
[20]M. Youngkak, K. Seungwoo, O. Dongik, and C. Youngwan, A study on development of home mess-cleanup robot McBot, in 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008, Xi'an, China, 2008, pp. 114-119.
[21]J. Palacin, J. A. Salse, I. Valganon, and X. Clua, Building a mobile robot for a floor-cleaning operation in domestic environments, in IEEE Transactions on Instrumentation and Measurement, vol. 53, pp. 1418-1424, 2004.
[22]X. Gao, K. Li, Y. Wang, G. Men, D. Zhou, and K. Kikuchi, A floor cleaning robot using swedish wheels, in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, China, 2008, pp. 2069-2073.
[23]http://www.itmedia.co.jp/lifestyle/articles/0503/08/news077.html ,July, 2016
[24]M. Simoncelli, G. Zunino, H. I. Christensen, and K. Lange, Autonomous pool cleaning: Self localization and autonomous navigation for cleaning, Autonomous Robots, vol. 9, pp. 261-270, 2000.
[25]Y. Fuchikawa, T. Nishida, S. Kurogi, T. Kondo, F. Ohkawa, T. Suehiro, Y. Watanabe, Y. Kawamura, M. Obata, H. Miyagawa, and Y. Kihara, Development of a vision system for an outdoor service robot to collect trash on streets, Proceedings of the Eighth IASTED International Conference on Computer Graphics and Imaging, CGIM 2005, Honolulu, HI, United states , 2005, pp. 100-105
[26]T. Nishida, Y. Takemura, Y. Fuchikawa, S. Kurogi, S. Ito, M. Obata, N. Hiratsuka, H. Miyagawa, Y. Watanabe, F. Koga, T. Suehiro, Y. Kawamura, Y. Kihara, T. Kondo, and F. Ohkawa, Development of outdoor service robots, in SICE-ICASE International Joint Conference, Busan, Korea, Republic, 2006 pp. 2052-2057.
[27]RL1000, http://www.friendlyrobotics.com/, July, 2016
[28]陳勇戎, 智慧型戶外清潔機器人, 國立成功大學碩士論文, 2008.
[29]李昆翰, 戶外清潔機器人之研製, 國立成功大學碩士論文, 2009.
[30]王婷, 戶外式清潔機器人之研發, 國立成功大學碩士論文, 2011.
[31]網頁http://www.dronyx.com/solarino-beach-cleaner/, July, 2016
[32]網頁
http://www.longislandbeachcleaning.com/aboutus.html, July, 2016
[33]網頁
http://www.choumerianos.gr/en/beach-cleaning-machine/, July, 2016
[34]Hervé Hacot, Steven Dubowsky, Philippe Bidaud, ANALYSIS AND SIMULATION OF A ROCKER-BOGIE EXPLORATION ROVER
[35]網頁
http://www.smashingrobotics.com/curiosity-nasas-mars-science-laboratory-mission-robot/, July, 2016
[36]網頁
http://ww1.microchip.com/downloads/en/devicedoc/70135C.pdf
, July, 2016
[37]https://cdn.sparkfun.com/datasheets/Sensors/Proximity/lidarlite2DS.pdf, July, 2016
[38]San Jose Technology, Inc.(2011, May 27), “GM-1315LA Operational Manual, http://www.tecnogps.es/archivos/productos/gm-1315la_manual%20v1.1.pdf , July, 2016

連結至畢業學校之論文網頁點我開啟連結
註: 此連結為研究生畢業學校所提供,不一定有電子全文可供下載,若連結有誤,請點選上方之〝勘誤回報〞功能,我們會盡快修正,謝謝!
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top
系統版面圖檔 系統版面圖檔