具避障功能之可傾式雙輪平台設計與實現

Abstract

本篇論文設計一可側傾式的雙輪平台，雙輪以獨立驅動的方式來控制，並且以平行四連桿機構來改變機構整體側向重心位置，確保在高速運行下的靈巧性與穩定性。在機構設計上，我們從動力的來源，也就是馬達作為出發點，確保平台能夠達到如輕型載具20km/hr以上的速度，進而匹配合適的減速機構，並且設計了平台的側向傾斜機構、傳動機構組、輪圈機構等機構組，平台的主結構以鋁擠型組成，具有拆裝方便的優點，並且可隨著不同的週邊機電元件來作更換，可輕易的作整合。 此雙輪平台同時具有可應用於實際輕型載具的智慧化功能，在其上裝設有雷射、紅外線、聲納、超音波各種不同感測原理的距離感應器，初步可在平台上進行各種類型感應器的靜、動態測試來瞭解感應器的使用性能以及不同環境、互相干擾的所產生的誤判情形，並且近一步針對不同原理的感應器建立其週邊電路，並在嵌入式系式統中，撰寫使其可用的人機介面程式。從感測器測試的結果，進一步設計場景建立、自動避障等智慧化功能的測試，藉由不同感應器的資料。目前已開發完整的機構以及整合其上的機電系統，並且在各種場景建立以及自動避障有初步的實驗結果。

We report on the design of a tiltable 2-wheel mobile robot. Its wheels are driven independently. Equipped with tiltable mechanism, the robot is capable of changing its center of gravity to achieve high dexterity and stability under high speed. In the mechanism design, we start from the actuator, in other word, motor as a beginning to assure the platform can achieve the speed of 20km/hr as light electric vehicle. We also design the transmission, tilt and rim mechanism. The main platform structure is composed of aluminum press thermoform, with the advantages of easy assembly and integration with other mechatronic systems. The platform also has the intelligent features which can be applied to real light electric vehicle. It is equipped with laser, infrared ray, ultrasonic and sonar range finder. At first, we conduct various static and dynamic experiments to understand the sensor performance under different environments or mutual interference. Secondly, we step forward to establish the peripheral circuits and HMI ( Human Machine Interface ) in our embedded system. Based on the result of sensor tests, we realize intelligent function such as mapping and obstacle avoidance by the sensor feedback. We have developed complete mechanism and mechatronic systems, and preliminary experiments results are also presented.