Speed-Feedback Control and Ultrasonic-Signal Enhancement for Two-Wheel Robot

[[abstract]]在工業4.0 (Industry 4.0) 的時代，機器人在智慧型工廠及物聯網之間扮演著不可或缺的角色。例如: 移動式機器人、智慧型機器人、清潔機器人...等。本論文的研究主題就為上述之中的移動式機器人，目前市售的掃地機器人對於直流馬達往往缺乏速度控制。本論文提出一個方法將編碼器的訊號量化成輪子的轉速，目標是達成兩輪機器人之速度回授控制。速度回授控制能夠讓兩顆不同的直流馬達同一時間輸出相同的轉速。 實驗室基於超音波感測器的跟隨人系統在特定情況存在著辨識度不佳的問題。本論文提出三個方法作為超音波訊號的補償，目標是使移動式機器人更流暢地跟隨使用者。第一，消除來自牆面的反射訊號；其次，克服因為發射器照射偏差所造成的雜訊；最後，避免環境中的其他干擾源，像是驅蚊器與倒車雷達。當超音波訊號得到優化，跟隨機器人將獲得更有效率的移動路線。實驗結果顯示兩輪機器人不但有更加穩定的動作表現，也大幅提升了在特殊環境下的使用能力。[[abstract]]In the era of Industry 4.0, the robot plays an indispensable role between intelligent factories and Internet of Things. E.g., mobile robot, intelligent robot, cleaning robot, etc. The research topic of the thesis is one of the above mobile robot. In the market products, sweeping robots often lack speed control for DC motors. The thesis proposed a method of quantifying the encoder signal to the rotational speed. The goal is to achieve the speed-feedback control on two-wheel robot. Speed-feedback control allows the different DC motors to output the same speed in the meantime. Human-following system based on ultrasonic sensor in the laboratory has a problem of unfavorable recognition in certain situations. The thesis proposes three methods to enhance the ultrasonic signal. The goal is to make mobile robot follow the user more smoothly. First, eliminate reflections from the wall. Second, overcome the noise caused by the irradiating deviation from ultrasonic transmitter. Third, avoid other sources of interference in the environment, such as mosquito dispeller and parking assistance. Experimental results show that the two-wheel robot not only has a more stable performance, but also enhances the ability to use in special situations.[[note]]碩