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研究生:廖宗義
研究生(外文):Liao, Tsung-I
論文名稱:發展具路徑規劃與行進偏移修正能力之醫療空間清潔機器人
論文名稱(外文):Development of a Medical Space Cleaning Robot with Path Planning and Travel Offset Correction Capability
指導教授:陳文平陳文平引用關係
指導教授(外文):Chen, Wen-Ping
口試委員:卓明遠李財福黃忠發王坤卿閔庭輝陳文平
口試委員(外文):Cho, Ming-YuanLee, Tsair-FwuHuang, Chung-FahWang, Kun-ChingMeen, Teen-HangChen, Wen-Ping
口試日期:2019-07-19
學位類別:博士
校院名稱:國立高雄科技大學
系所名稱:電機工程系
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:2019
畢業學年度:107
語文別:中文
論文頁數:68
中文關鍵詞:清潔機器人路徑規劃機器人作業系統
外文關鍵詞:cleaning robotPath PlanningROS
相關次數:
  • 被引用被引用:0
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  • 下載下載:7
  • 收藏至我的研究室書目清單書目收藏:2
目前大型公共空間的打掃工作(含醫療機構的空間),目前依然是委託清潔公司派遣清潔人員駕駛大型的電動掃地車或刷地車進行清掃工作,且需耗費大量人力日夜進行;有鑑於此,本論文提出一種可利用雷射掃描進行室內大型空間地圖建置,並自動規劃該空間清掃路徑之自動清掃的機器人,本研究運用機器人作業系統具擴充性特點,利用光學雷達與紅外線感測器進行空間的清潔路徑規劃及移動路徑修正,且具備左右主控輪的設計讓機器人可於原地轉彎之功能,並以紅外線測距儀之回傳距離測量值,進行輔助直線、沿邊、轉向、牛耕田路徑移動的行徑。
經由醫院等處的實地測試結果顯示,本論文所設計之清潔機器人的地圖掃描建置、路徑規劃以及考量實際狀況所需的各類路徑行走測試皆能順利完成。未來將可取代包含醫療院所在內的公共空間場所,進行清掃工作,並可使用於室內大型空間之自動清潔與巡檢工作,以解決勞力不足甚至深夜工作過勞等問題,並可減少因醫療環境與空間管制造成的感染。

Including the medical institutions, the cleaning of large-scale public spaces is currently performed by workers driving large cleaning machines entrusted by companies, and it takes a lot of manpower to carry out day and night. Therefore, this study proposes a cleaning robot that maps large indoor spaces using laser scanning and planning the space of cleaning path automatically. The study uses the extended features of the Robot Operating System (ROS) to perform spatial clean path planning and path modification using Light Detection and Ranging (LIDAR) and infrared Sensor. The left and right primary wheels are designed to allow the robot may turn around in the field, and the distance values measured by the infrared sensor is used to assist the movement of the straight line, edge, and the steering, and the boustrophedon path.
The experiment result at hospital’s area was shown that the map scanning construction, path planning, and various path tests required to consider the actual conditions of the cleaning robot can be successfully completed. In the future, it will replace the cleaning work in the public facilities, and can be used for automatic cleaning and inspection of large indoor spaces to solve problems such as labor shortages and overwork, and reduce infections caused by medical environment and space problems

摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
圖目錄 vi
表目錄 ix
符號說明 x
第一章 緒 論 1
1.1研究背景 1
1.2 研究動機與目的 4
第二章 國內外發展現況 7
2.1國內外機器人研究演進 7
2.2 服務型機器人發展與研究 9
2.2.1掃地機器人 11
2.2.2巡檢機器人 14
2.3即時定位與地圖構建(SLAM) 15
2.4光學雷達原理 17
2.5機器人作業系統(ROS) 18
2.6醫療院所測試空間介紹 20
2.7 小結 23
第三章 系統架構 24
3.1 機器人硬體設計 24
3.1.1機構與底盤配置 25
3.1.2驅動馬達 26
3.1.3機器人驅動控制設計 28
3.1.4吸塵裝置與掃地馬達 30
3.2 機器人系統架構 32
3.2.1 機器人作業系統(ROS)概念與通訊方式 33
3.2.2 光學雷達(Light Detection and Ranging, LIDAR) 35
3.2.3 距離測量感測器模組 (IR sensor) 38
3.2.4 SLAM 即時定位與地圖建構 39
第四章 規劃與測試 43
4.1 路徑規劃 43
4.1.1 沿邊地圖繪製 44
4.1.2 牛耕田路徑規劃 47
4.1.3 路徑偏移與轉向修正 48
4.2 路徑測試 52
4.2.1 IR sensor準確測試 52
4.2.2 SLAM測試 55
4.2.3 延邊修正測試 57
4.2.4 牛耕田測試 59
4.2.5 轉向測試 62
第五章 結論 63
5.1 結論 63
5.2 未來展望 64
參考文獻 66

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