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研究生:許家榮
研究生(外文):Jia-Rong Hsu
論文名稱:廠區巡邏機器人系統開發設計之研究
論文名稱(外文):Research on Development and Design of Factory Patrol Robot System
指導教授:許仕許仕引用關係
指導教授(外文):Shih Hsu
口試委員:鄭乃仁張法憲
口試委員(外文):Fa-Shian Chang
口試日期:2018-01-17
學位類別:碩士
校院名稱:正修科技大學
系所名稱:電子工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2018
畢業學年度:106
語文別:中文
論文頁數:117
中文關鍵詞:自動導引車
外文關鍵詞:AGV
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本研究探討適用於工廠、倉庫、廠房等場域中,多功能巡邏機器人機構設計與系統開發中各項參數調整研究。依系統功能的架構,有區分為硬體和軟體的2個部份;硬體區分為車台、場域2個部份,車台部分有車台的結構、車台的電力、車台上的感測、車台內的晶片以及車台無線傳輸系統。軟體方面有中控中心內的系統以及RFID的定位;感測系統區分為與車台有關超音波感測、氣體感測器和溫溼度感測器,以便車台在巡邏的時候偵測到當時的狀況即時回報。車台結構設計加裝了影像系統、碰撞感應系統,還有在車台上加裝滅火機構、警報系統、照明系統,場域區分為有磁軌的路線導引和巡邏車路線的規劃。當廠房發生火警時巡邏車可以在第一時間做緊急處理,然後及時回報中控中心。電力系統分為有手動、接觸等二種方式。本文將使用此機器人代替人員去做巡邏、收發貨物等工作,同時可以降低人為的出錯率,並且提高工作的效率,也能統一管制機器人的狀態。此外上述各系統之最佳化設計與實施技術、方法將在論文中詳細論述。
關鍵詞:自動導引車、氣體感測器、室內定位、影像系統、電磁導引。

This study can be applicable to the mechanical design and parameter adjustment in the system development of multi-function patrolling robot ,which can apply in several fields such as factories, warehouses and factory workshops...etc. According to the architecture of the system function, we classified it into the hardware part and software part. The Hardware includes detecting systems, fields, stage structure, and power system. The software includes platform dispatch, route planning and indoor positioning. The sensory system includes ultrasonic sensing and gas sensors, temperature and humidity sensors which are related to the vehicle, so it can report the status immediately . The field area includes route transduction which follows magnetic track and layout of patrol route. The vehicle structure installed image display system, collision sensor system, as well as the fire extinguishing institutions, alarm systems, lighting systems. When the fire alarm is activated, the patrol car can react immediately in the emergency situation, then report to the control center . The power system is classified into a wireless, induction, contact three parts. This article will demonstrate that the robot will replace the staff to commit the task such as patrol , receive and dispatch the merchandise, etc. It avoid mistakes , and raise the efficiency of operations .It can also unify to the state of the robot. In addition, the above-mentioned system on optimization design and implementation of the
technology, will be discussed in detail in the thesis.

Keyword: automatic guided vehicle(AGV), gas sensor, indoor navigation, image
system, electromagnetic guidance

摘要 -----------------------------------------------------------I
Abstract ---------------------------------------------------------------------------------------------II
圖目錄------------------------------------------------------------V
表目錄 ----------------------------------------------------------IX
第一章 緒論--------------------------------------------------------1
1.1 前言-------------------------------------------------------1
1.2 研究動機---------------------------------------------------2
1.3 研究目的---------------------------------------------------2
1.4 相關發展文獻資料分析與介紹--------------------------------3
1.4.1國外專利分析----------------------------------------------3
1.4.2自動導向車(AGV)應用的行業---------------------------------4
1.4.3自動導向車(AGV)的導引的方式-------------------------------7
1.5 論文的架構------------------------------------------------11
第二章 整體系統架構----------------------------------------------13
2.1 前言-----------------------------------------------------13
2.1 硬體組成說明---------------------------------------------13
2.2.1車台-----------------------------------------------------13
2.2.2場域-----------------------------------------------------16
2.3 軟體組成說明---------------------------------------------17
2.4 整體運用說明---------------------------------------------18
2.5 結論-----------------------------------------------------18
第三章 載具硬體設計---------------------------------------------19
3.1 前言-----------------------------------------------------19
3.2 載具本體設計---------------------------------------------19
3.2.1初期設計-------------------------------------------------19
3.2.2車台系統說明---------------------------------------------21
3.2.3車台結構-------------------------------------------------22
3.2.4 防撞機制--------------------------------------------------------------------------------24 
3.2.5 AGV硬體規格說明----------------------------------------25
3.2.6 自動導向車(AGV)車種介紹----------------------------------30
3.2.7 場域-----------------------------------------------------31
3.3 感測塔設計----------------------------------------------35
3.3.1 滅火機構------------------------------------------------38
3.3.2 最終設計------------------------------------------------39
3.3.3 車台種類------------------------------------------------40
3.3.4 整體運作------------------------------------------------41
3.3.5 結論----------------------------------------------------41
第四章 感測器整合設計---------------------------------------------42
4.1 前言----------------------------------------------------42
4.2 電路設計探討--------------------------------------------42
4.3 感測結構探討--------------------------------------------44
4.3.1 超音波感測器--------------------------------------------44
4.3.2 氣體偵測器模組------------------------------------------45
4.3.3 RFID讀取器---------------------------------------------58
4.3.4 磁條感應器----------------------------------------------59
4.4 結論----------------------------------------------------60
第五章 控制軟體設計-----------------------------------------------61
5.1 前言-----------------------------------------------------61
5.2 軟體架構設計---------------------------------------------61
5.3 各系統介紹-----------------------------------------------64
5.3.1派遣系統------------------------------------------------65
5.3.2影像系統------------------------------------------------74
5.3.3氣體監控系統--------------------------------------------75
5.4 結論-----------------------------------------------------84
第六章 實驗結果與討論---------------------------------------------85
6.1 前言-----------------------------------------------------85
6.2 載具性能測試---------------------------------------------85
6.3 結論-----------------------------------------------------97
第七章 結論與未來展望--------------------------------------------98
參考文獻---------------------------------------------------------99
圖案參考---------------------------------------------------------101
附錄-------------------------------------------------------------103

[1] IEEE Xplore
http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=1402435
[2] S. Butdee a,*, A. Suebsomran b, F. Vignat c, P.K.D.V. Yarlagadda "Control and path prediction of an Automate Guided Vehicle "Journal of Achievements in Materials and Manufacturing Engineering(JAMME),Vol.31,no.2,pp.442-448,Dec.2008.
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.329.3352&rep=rep1&type=pdf
[3] An Active RFID Tag-Enabled Locating Approach"IEEE ,Vol 13, no.3,pp1333-1342,July.2016.
[4]林瓏,"AGV小車整合無線技術打造智慧工廠新願景, "MyAdvantech 季刊,no2,pp.14-15,summer 2013.
[5]今日儀器股份有限公司, 氣體偵測器-iTrans,
http://www.todays.com.tw/product-3a.asp
[6] A complete solution for AGV SLAM integrated with navigation in modern warehouse environment"IEEE,pp6478-6423,Oct.2017.
[7] Application of fusion filtering algorithm in AGV localization"IEEE,pp6340-6344,Oct.2017.
[8] Research of multi-AGV scheduling system based on a new mixed regional control model"IEEE,pp2641-2645,Oct.2017.
[9] Application of AGV in intelligent logistics system"IEEE,pp1-5,Oct.2015.
[10] Speed control system design using fuzzy-pid for load variation of automated guided vehicle (AGV) "IEEE,pp426-430,Apr.2017.
[11] An improved differential evolution based artificial fish swarm algorithm and its application to AGV path planning problems"IEEE,pp2556-2561,July.2017.
[12] A Road Lane Recognition Algorithm Based on Color Features in AGVVision Systems"IEEE,Vol1,pp475-479,June.2006.
[13] Research on visual navigation algorithm of AGV used in the small agile warehouse"IEEE,pp217-222,Oct.2017.
[14] Recognizing and handling the livelock problem in AGV systems E. Roszkowska"IEEE,Vol 2,pp1637-1642,Oct.2004.
[15] A Fuzzy PID controller applied in AGV control system"IEEE,,pp555-560,Aug.2006.
[16] Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment"IEEE,,pp844-848,Oct.2016.
[17] The Study of Applying the AGV Navigation System Based on Two Dimensional Bar Code"IEEE,,pp206-209,Dec.2016.
[18] A software tool for the decentralized control of AGV systems"IEEE,,pp478-483,Apr.2016.
[19] An error correction method with adaptive time slot for AGV's magnet-induced marker sensor"IEEE,,pp1-4,July.2016.
[20] A system control strategy of a conflict-free multi-AGV routing based on improved A∗ algorithm"IEEE,,pp1-6,Nov.2017.

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