| 摘要: | 本論文欲設計與製作一智慧型搭乘電梯機器人，透過該機器人移動載具上所架設的機械手臂 (manipulator)，可實現機器人自動搭乘電梯的機制。該手臂上架設了一個微型針孔攝影機 (micro camera)，運用影像偵測技術即可得知電梯面板位置且正確辨識出上、下及樓層數字的電梯按鈕，以及按鈕燈亮滅。再使用紅外線距離感測器測量與電梯牆面間之距離，藉由逆向運動學 (inverse kinematics) 的推算，就能依照不同的距離調整手臂馬達旋轉角度，來完成按壓按鈕的動作。接著經由移動載具與其搭配的全方位輪 (omni-wheel)，完成進出電梯所需的各種方向運動動作。 由使用者透過人機介面給予機器人目標樓層命令，機器人則會自動按壓電梯按鈕、進出電梯、搭乘電梯到達目標樓層。如此一來，即可使機器人能夠穿梭於大樓內各個樓層，不受樓層空間限制其行動範圍，可運用在大賣場、機場、醫院、學校等等場所替人們服務。 In this thesis, an intelligent wheeled robot is designed to achieve elevator taking ability. By the robot arm set on the top of the wheeled robot, the robot can press the buttons of up, down and floor numbers on the elevator. There is a micro camera set on the tip of the robot arm. By the techniques of image detection, the robot can know the position of the elevator, recognize the control panel and detect whether the button light is on or off. The robot can measure the distance between the robot and the elevator by the IR sensor, and then use inverse kinematics to calculate the angle of each links of the robot arm to press the correct buttons successfully. Since the robot has three omni-wheels, the robot can move to any direction we need such as moving into or out of the elevator. There has an human-machine interface on the robot, based on the interface, the user can give a command to the robot to show the which floor the robot should go, and after the robot arrived the floor, it can provide service and execute the mission continuously. Therefore, the robot can move anywhere in the building and go up and down the floors. With the abilities mentioned above, the robot can be applied to hypermarkets, airports, hospitals, school, etc., to serve people. |
