臺灣博碩士論文加值系統

在現今這個智慧科技時代，科技與智慧應用裝置的使用頻率每天都在增加，例如常見的掃地機器人就是一個應用的實例。現今市面上掃地機器人面對到不易清掃角落與縫隙的灰塵，以及無法確切得知掃地機器人掃地位置的缺點；隨著物聯網(Internet of Things，IoT)應用技術的發展，透過物聯網的技術有機會提升其效能來克服這些問題。
在本論文中，透過以微控制器(Microcontroller Unit, MCU)為基礎之平台，結合周邊電路、馬達與感測器等裝置去探討一種掃地機器人的概念驗證(Proof of concept prototype)。為了清掃到牆角位置，我們使用了一種可伸縮式機械結構(retractable mechanism)，讓機器人具有站立的構造能力，可使掃地機器人進入縫隙清掃灰塵；而為了清楚了解機器人的運行路徑，我們可以結合行動裝置與硬體平台對於掃地機器人的運行路徑進行觀測與紀錄，來得到完整的資訊。
關鍵字：掃地機器人、微控制器、行動裝置、硬體平台、運行路徑

In the age of smart technology, the uses of devices with smart applications are getting more frequently. The common robotic cleaners is a typical example of a smart application. Nowadays the commercial robotic cleaners have a problem that the dust close to the edge of wall is not easily to be detected and cleaned. As the advance of the Internet of Things (IoT) technology, the related development of IoT technology can be probably applied to resolve the mentioned difficulties.
In this paper, a platform that includes microcontroller unit (MCU) is incorporated with peripheral circuits, motors, and sensor to discuss and design a proof of concept of a robotic cleaners. A retractable mechanism is designed and used to satisfy the cleanness for edge of wall. In addition, the robotic cleaners has the capabilities to make not only horizontal movement but also vertical one. As a result, the cleanness of dust within the gap and crack can be detected and cleaned. Finally, the cleaning path of robotic cleaners can be observed and recorded by the connection of a mobile device and a platform that includes MCU.

Keywords: robotic cleaners, microcontroller, mobile device, platform, cleaning path

摘 要 I
ABSTRACT II
致謝 III
目錄 IV
圖目錄 VII
表目錄 IX
第一章 緒論 1
1.1 前言 1
1.2 論文貢獻 4
1.3 論文架構 5
第二章 微控制器探討 6
2.1 微控制器系統介紹 6
2.2 硬體開發環境平台 10
2.2.1 Arduino MEGA 2560 開發平台[3] 10
2.2.2 Raspberry Pi 4開發平台[5] 11
2.2.3 ESK32-30105 – HT32F12366開發平台[7] 12
2.2.4 ESP32 – NodeMCU-ESP32-S Lua開發平台[8] 13
2.2.5 LinkIt 7697開發平台[9] 14
2.2.6 開發平台之評估 15
第三章 掃地機器人系統架構與硬體設備 17
3.1 與相關掃地機器人應用之比較 17
3.2 系統方塊說明 24
3.3 掃地機器人的架構、模組與動力介紹 29
3.3.1 機械架構 29
3.3.1.1 一個小齒輪推動一個齒條 31
3.3.1.2 一個小齒輪一個大齒輪推動一個齒條 32
3.3.1.3 兩個小齒輪推動兩個齒條 33
3.3.2 感測模組 34
3.3.2.1 IRS-180 紅外線避障感測器[45] 34
3.3.2.2 IRS-90 循跡感測器[46] 35
3.3.3 馬達動力說明 36
3.3.3.1 伺服馬達[36] 36
3.3.3.2 直流馬達[47] 37
第四章 掃地機器人運動與有限狀態機導航系統 39
4.1 掃地機器人的里程和運動學 40
4.2 整體有限狀態機導航架構 47
4.3 座標建立地圖狀態圖 52
4.3.1 跟隨牆壁清掃動作的座標狀態 52
4.3.2 Z字形清掃動作的座標狀態 53
4.3.3 站立清掃動作的座標狀態 54
4.4 清理導航狀態圖 55
4.4.1 跟隨牆壁清掃動作的狀態圖 55
4.3.2 Z字形清掃動作的狀態圖 56
4.3.3 站立清掃動作的狀態圖 58
第五章 掃地機器人效能觀測平台 60
5.1 掃地機器人周邊電路之流程 60
5.1.1 跟隨牆壁電路平台之流程 60
5.1.2 Z字形電路平台之流程 62
5.1.3 站立電路平台之流程 64
5.1.4 總電路平台之流程 66
5.2 掃地機器人效能觀測平台 67
5.2.1 物聯網概念平台設計 68
5.2.2 物聯網平台設計 69
5.2.3 物聯網平台操作之流程 70
5.3 效能觀測平台觀測結果 71
5.3.1 掃地機器人行走跟隨牆壁清掃動作狀況結果 71
5.3.2 掃地機器人行走Z字形清掃動作狀況結果 72
5.3.3 掃地機器人行走站立清掃動作狀況結果 73
5.4 所探討的掃地機器人之系統整合 74
第六章 結論與未來研究方向 78
6.1 結論 78
6.2 未來研究方向 78
參考文獻 79

[1]Executive Yuan. (2020, Jan). Taiwan 5G Action Plan. Executive Yuan,. Taiwan.[Online]Available:https://www.ey.gov.tw/Page/5A8A0CB5B41DA11E/087b4ed8-8c79-49f2-90c3-6fb22d740488
[2]Wikibooks. (2012, Mar). Arduino/Introduction,. Wikibooks. Taiwan. [Online] Available:https://zh.m.wikibooks.org/zh-tw/Arduino/%E7%AE%80%E4%BB%8B
[3]Arduino. (2014, Jun). Arduino MEGA 2560/ Introduction,. Arduino. Italia. [Online] Available:https://store.arduino.cc/usa/mega-2560-r3
[4]A. A. Galadima, "Arduino as a learning tool," 2014 11th International Conference on Electronics, Computer and Computation (ICECCO), Abuja, 2014, pp. 1-4.
[5]Raspberry Pi Taiwan Raspberry Pi. (2020, Jun). 8GB Raspberry Pi 4 is out!,. Raspberry Pi Taiwan Raspberry Pi. Taiwan. [Online] Available:
https://www.raspberrypi.com.tw/tag/%E6%A8%B9%E8%8E%93%E6%B4%BE4/
[6]G. K. Pandey and P. Chinnamuthu, "IOT Based Patient Monitoring System utilizing Raspberry Pi and Web-Page," 2018 3rd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT), Bangalore, India, 2018, pp. 2140-2144.
[7]HOLTEK. (2018, Jan). ESK32-30105 – HT32F12366 Starter Kit,. HOLTEK. Taiwan. [Online] Available:https://www.holtek.com.tw/esk32-30105
[8]Anxinke Technology. (2019, Apr). NodeMCU-32S core development board,. Anxinke Technology. China. [Online] Available:
http://wiki.ai-thinker.com/esp32/boards/nodemcu_32s
[9]MediaTek Inc. (2015, Jun). LinkIt 7697,. MediaTek Inc. Taiwan. [Online] Available:https://labs.mediatek.com/en/platform/linkit-7697
[10]Guo Dong, Wang Hongpei, Gao Song and Wang Jing, "Study on adaptive front-lighting system of automobile based on microcontroller," Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE), Changchun, 2011, pp. 1281-1284.
[11]P. H. Khotimah, D. Krisnandi and B. Sugiarto, "Design and implementation of Remote Terminal Unit on Mini Monitoring Weather Station Based on Microcontroller," 2011 6th International Conference on Telecommunication Systems, Services, and Applications (TSSA), Bali, 2011, pp. 186-190.
[12]J. L. Jones, "Robots at the tipping point: The road to iRobot Roomba", IEEE Robot. Autom. Mag., vol. 13, no. 1, pp. 76-78, Mar. 2006.
[13]Electric Primary Two. (2020, Jan). 2020 Sweeping Robot Purchase Instructions and Recommendations,. Electric Primary Two. Taiwan. [Online] Available: https://applianceinsight.com.tw/blog/post/guidance-for-robot-cleaner-2020
[14]looking at the tall building. (2017, Sep). Big data responds to the top ten rankings of intelligent sweeping robots,. looking at the tall building. Taiwan. [Online] Available:https://kknews.cc/zh-tw/tech/ynboxmn.html
[15]Alpha Workshop. (2019, Dec). On the occasion of the ending of the robot sweeping war in 2019, talk about Cobos' "leading" logic,. Alpha Workshop. China. [Online] Available:
https://www.chainnews.com/zhhant/articles/978613658497.htm
[16]Report Hall. (2019, Sep). Sweeping robot industry trends,. Report Hall. China. [Online] Available: http://big5.chinabgao.com/freereport/80900.html
[17]B. Murphy, "Single chip microcomputers and their applications," 1978 IEEE International Solid-State Circuits Conference. Digest of Technical Papers, San Francisco, CA, USA, 1978, pp. 194-194.
[18]R. Bannatyne and G. Viot, "Introduction to microcontrollers," WESCON/97 Conference Proceedings, Santa Clara, CA, USA, 1997, pp. 564-574.
[19]R. Bannatyne and G. Viot, "Introduction to microcontrollers. I," Northcon/98. Conference Proceedings (Cat. No.98CH36264), Seattle, WA, USA, 1998, pp. 238-248.
[20]雷思磊著. (2015, Jun03). 自己動手寫CPU. 碁峰資訊股份有限公司. [Online] Available: https://www.books.com.tw/products/0010676982
[21]David A. Patterson and J. L. Hennessy, Computer Organization & Design: The hardware/software interface, 3^rdedition, Morgan Kaufman Publishers, Inc. 2004
[22]M. Güleçi and M. Orhun, "Android based WI-FI controlled robot using Raspberry Pi," 2017 International Conference on Computer Science and Engineering (UBMK), Antalya, 2017, pp. 978-982.
[23]G. Mostafa, "Development of an 8-bit RISC microcontroller learning kit using atmel ATmega32 architecture," 2013 2nd International Conference on Advances in Electrical Engineering (ICAEE), Dhaka, 2013, pp. 154-159.
[24]G. K. Pandey and P. Chinnamuthu, "IOT Based Patient Monitoring System utilizing Raspberry Pi and Web-Page," 2018 3rd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT), Bangalore, India, 2018, pp. 2140-2144.
[25]I. Gupta, V. Patil, C. Kadam and S. Dumbre, "Face detection and recognition using Raspberry Pi," 2016 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE), Pune, 2016, pp. 83-86.
[26]K. L. Su, B. Y. Li, J. H. Guo and Y. L. Liao, "Motion Planning of Multi-docking System for Intelligent Mobile Robots," 2014 International Symposium on Computer, Consumer and Control, Taichung, 2014, pp. 1279-1282.
[27]S. R. Misal, S. R. Prajwal, H. M. Niveditha, H. M. Vinayaka and S. Veena, "Indoor Positioning System (IPS) Using ESP32, MQTT and Bluetooth," 2020 Fourth International Conference on Computing Methodologies and Communication (ICCMC), Erode, India, 2020, pp. 79-82.
[28]Huarong Jiang, Yong Li and Dong Li, "Indoor environment monitoring system based on LinkIt One and Yeelink platform," 2016 2nd IEEE International Conference on Computer and Communications (ICCC), Chengdu, 2016, pp. 933-937.
[29]C. Tseng, C. Cheng, Y. Hsu and B. Yang, "An IoT-Based Home Automation System Using Wi-Fi Wireless Sensor Networks," 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Miyazaki, Japan, 2018, pp. 2430-2435.
[30]C. Kuo, H. Chou and S. Tasi, "Pneumatic Sensor: A Complete Coverage Improvement Approach for Robotic Cleaners," in IEEE Transactions on Instrumentation and Measurement, vol. 60, no. 4, pp. 1237-1256, April 2011.
[31]R. Gandhinathan and R. Ambigai, "Design and kinematic analysis of tethered guiding vehicle (TGV) for façade window cleaning," 2016 Online International Conference on Green Engineering and Technologies (IC-GET), Coimbatore, 2016, pp. 1-3.
[32]X. Gao and X. Fu, "Miniature Water Surface Garbage Cleaning Robot," 2020 International Conference on Computer Engineering and Application (ICCEA), Guangzhou, China, 2020, pp. 806-810.
[33]Yong-Joo Oh and Y. Watanabe, "Development of small robot for home floor cleaning," Proceedings of the 41st SICE Annual Conference. SICE 2002., Osaka, 2002, pp. 3222-3223 vol.5.
[34]D. O. Sales, P. Shinzato, G. Pessin, D. F. Wolf and F. S. Osorio, "Vision-Based Autonomous Navigation System Using ANN and FSM Control," 2010 Latin American Robotics Symposium and Intelligent Robotics Meeting, Sao Bernardo do Campo, 2010, pp. 85-90.
[35]K. Qian and A. Song, "Autonomous navigation for mobile robot based on a sonar ring and its implementation," 2012 8th IEEE International Symposium on Instrumentation and Control Technology (ISICT) Proceedings, London, 2012, pp. 47-50.
[36]Yukun Xu, Wenchao Jia and Jingfei Li, "Design and realization of test system for servomotor controller," 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, Changchun, 2010, pp. 250-253.
[37]A. Marino, L. Parker, G. Antonelli and F. Caccavale, "Behavioral control for multi-robot perimeter patrol: A Finite State Automata approach," 2009 IEEE International Conference on Robotics and Automation, Kobe, 2009, pp. 831-836.
[38]B. F. Wu, C. T. Lin and Y. L. Chen, "Dynamic calibration and occlusion handling algorithms for lane tracking", IEEE Trans. Ind. Electron., vol. 56, no. 5, pp. 1757-1773, May 2009.
[39]Y. S. Kung, C. C. Huang and M. H. Tsai, "FPGA realization of an adaptive fuzzy controller for PMLSM drive", IEEE Trans. Ind. Electron., vol. 56, no. 8, pp. 2923-2932, Aug. 2009.
[40]A. Avnur, "Finite state machines for real-time software engineering", Comput. Control Eng. J., vol. 1, no. 6, pp. 275-278, Nov. 1990.
[41]A. Marino, L. Parker, G. Antonelli and F. Caccavale, "Behavioral control for multi-robot perimeter patrol: A Finite State Automata approach," 2009 IEEE International Conference on Robotics and Automation, Kobe, 2009, pp. 831-836.
[42]L. Allison and M. M. Fuad, "Inter-App Communication between Android Apps Developed in App-Inventor and Android Studio," 2016 IEEE/ACM International Conference on Mobile Software Engineering and Systems (MOBILESoft), Austin, TX, 2016, pp. 17-18.
[43]Chunli Zhang, Hui Shen and Zuhua Fang, "Computerized design and simulation of a high-ratio compound gearing," 2011 Second International Conference on Mechanic Automation and Control Engineering, Hohhot, 2011, pp. 3954-3957.
[44]M. Z. Mohammad Nasir, A. Dwijotomo, M. Z. Amir, M. A. Abdullah, M. Z. Hassan and K. Hudha, "Position tracking of automatic rack and pinion steering linkage system through hardware in the loop testing," 2012 IEEE Control and System Graduate Research Colloquium, Shah Alam, Selangor, 2012, pp. 111-115.
[45]L. Korba, S. Elgazzar and T. Welch, "Active infrared sensors for mobile robots," in IEEE Transactions on Instrumentation and Measurement, vol. 43, no. 2, pp. 283-287, April 1994.
[46]A. Moulay, F. Laoufi, T. Benslimane and O. Abdelkhalek, "FPGA-Based Car-Like Robot Path Follower with Obstacle Avoidance," 2020 2nd International Conference on Mathematics and Information Technology (ICMIT), Adrar, Algeria, 2020, pp. 125-131.
[47]R. Garg, "Behavioral Analysis of a Universal Motor When Operated On DC and AC Supply," 2019 International Conference on Intelligent Computing and Control Systems (ICCS), Madurai, India, 2019, pp. 705-710.
[48]R. Kozma, M. Kitamura, A. Malinowski and J. M. Zurada, "On performance measures of artificial neural networks trained by structural learning algorithms," Proceedings 1995 Second New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert Systems, Dunedin, New Zealand, 1995, pp. 22-25.
[49]A. Avnur, "Finite state machines for real-time software engineering", Comput. Control Eng. J., vol. 1, no. 6, pp. 275-278, Nov. 1990.
[50]Martin Buehler, Karl Iagnemma and Sanjiv Singh, "The 2005 DARPA Grand Challenge: The Great Robot Race (Springer Tracts in Advanced Robotics)" in , Springer, October 2007.
[51]Denis F. Wolf, Fernando S. Osório, Eduardo Simões and Trindade, "Onofre. Robótica Inteligente: Da Simulação às Aplicações no Mundo Real. [Tutorial] In", André Ponce de Leon F. de Carvalho; Tomasz Kowaltowski. (Org.). JAI: Jornada de Atualização em Informática da SBC. Rio de Janeiro: SBC – Editora da PUC. RJ, vol. 1, pp. 279-330, 2009.
[52]M. Goebl, M. Althoff, M. Buss, G. Farber, F. Hecker, B. Heissing, et al., "Design and capabilities of the Munich Cognitive Automobile", IEEE Intelligent Vehicles Symposium, pp. 1101-1107, 2008.
[53]C. Luo and S. X. Yang, "A Bioinspired Neural Network for Real-Time Concurrent Map Building and Complete Coverage Robot Navigation in Unknown Environments," in IEEE Transactions on Neural Networks, vol. 19, no. 7, pp. 1279-1298, July 2008.
[54]J.E. Hopcroft and J.D. Ullman, "Introduction to Automata Theory Languages and Computation", Addison-Wesley, 1979.
[55]Adelardo A. D. Medeiros, "A survey of control architectures for autonomous mobile robots", Journal of the Brazilian Computer Society – JBCS, vol. 4, no. 3, 1998.
[56]Michael K. Sahota, "Reactive Deliberation: An Architecture for Real-Time Intelligent Control in Dynamic Environments", Proceedings of the AAAI-94, pp. 1303-1308.
[57]S. Thongchai and K. Kawamura, "Application of fuzzy control to a sonar-based obstacle avoidance mobile robot," Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162), Anchorage, AK, USA, 2000, pp. 425-430.