臺灣博碩士論文加值系統

在服務型機器人越趨多元的趨勢，餐飲業需大量的人力需求，因此，許多餐廳逐漸引進服務型機器人，主要為送餐、點餐、迎賓等功能。因此，本研究以智慧型居家機器人Zenbo改造成為服務型機器人。由於使用者大多數為非工程相關領域的人員操作機器人，因此，本研究分別採用設計方法為軟體與硬體上進行改善，讓使用者操作上有簡單易懂的人機介面 (UI )和快速執行於任務 (UX) 。在軟體的部分，將此機器人地圖定位設定透過田口方法，由視覺SLAM技術與操作介面的參數作為水準因子，並分別針對時間與空間兩大方向進行實驗，建立簡易的設定步驟、UI/UX優化、優化設定與環境等。經過改善後，提升服務型機器人的UI/UX，並且將行徑時間改善47%，精準性提升88%。在硬體的部分，以六標準差的精神使用DMAIC方法，為服務型機器人支架設計的架構概念，主要著重於重心穩定和組裝簡易 (DFA)，並透過QFD、DFMA、FMEA方法進行支架設計改良。以模組化、磁吸、卡扣、穩固等設計，讓機器人在不同的環境及需求下，有多種組合和變化。本研究以非工程背景的使用者在實際場域進行操作為驗證，結果為服務型機器人從硬體操作、軟體設計以及與客人的互動性之整體過程，為使用者良好簡單的操作方法。

Based on the trend of diverse applications and development of service robots. The catering industry has a huge demand for human resources. Therefore, many restaurants gradually use service robots to welcome guests, delivery and order meals, etc. So, this study developed the service robot based on Zenbo, an intelligent home robot. Since most of the users are non-engineering-related field personnel to operate the service robot, this study used design methods to improve software and hardware. Let the users have an easy user interface (UI) and a fast-to-execute mission (UX). The software part uses the Taguchi method to build the service map. Refer to visual SLAM technology and operation interface parameters to set the "levels & factors." And conduct experiments in two directions of the time and space axes to create a simple setup SOP, UI/UX optimization, optimized setting steps & environment, etc. After improvement, the UI/UX of the service robot has improved. the delivery time is improved by 47%, accuracy and stability are improved by 65%. The hardware part uses the DMAIC method, the spirit of six sigma, to design the mechanism of the service robot. For a stable center of gravity and easy assembly (DFA), use the QFD and DFMA methods to improve the stand design. Allow the robot to have various combinations and changes under different environments and needs by using the modular, magnetic, buckle, and other design methods. The study let users from non-engineering backgrounds perform operations in an actual field to verify the results. The results give the service robot an easy way to assemble the hardware, set the software, and upgrade the customer interactivity and the friendly interface for users.

誌謝 iii
目錄 iv
圖目錄 ix
表目錄 xii
一、緒論 1
1.1研究背景 1
1.2研究動機與目的 2
二、文獻探討 3
2.1 服務型機器人概況 3
2.2 同時定位與地圖構建 5
2.2.1視覺SLAM技術 6
2.2.2雷射SLAM技術 8
2.2.3視覺與雷射SLAM差異 9
2.3產品設計方法 10
2.3.1 DMAIC方法 10
2.3.2 QFD品質機能展開 11
2.3.3 DFMA易製造與組裝的設計 12
2.3.4 FMEA失效模式與效應分析 13
2.4田口式品質工程 14
2.4.1田口方法介紹 14
2.4.2品質損失函數 14
2.4.3影響因子 15
2.4.4訊號雜音比 16
三、研究方法與路徑優化 17
3.1研究流程架構 17
3.2預期結果 20
3.3服務型機器人分析與設計需求 21
3.4硬體與軟體規格 22
3.5 田口方法設計 25
3.5.1時間軸實驗 26
3.5.2空間軸實驗 31
3.6優化結果 37
四、服務型機器人外觀及結構設計 38
4.1服務型機器人支架問題定義 38
4.2服務型機器人支架問題衡量 38
4.3服務型機器人支架問題分析 39
4.4服務型機器人支架設計 40
4.4.1支架材料分析 43
4.4.2受力模擬分析 44
4.4.3支架之安全係數分析 46
4.4.4優化設計與分析 47
4.4.5支架應力分析 48
4.4.6第一版支架設計可行性分析 50
4.5服務型機器人第二版支架設計改善 51
4.5.1以QFD進行第二版支架優化設計 51
4.5.2以DFMA進行零組件的易製造及組裝修正 54
4.5.3底座設計改善 57
4.5.4支架設計改善 61
4.5.5可行性分析與結果 70
4.6服務型機器人第二版支架設計驗證 71
4.6.1以FMEA優化設計及風險評估 71
4.6.2卡扣零件優化設計 72
4.6.3餐盤磁吸結構設計 73
4.6.4服務型機器人結構驗證結果 74
4.7結構設計比對 75
五、服務型機器人場域驗證 76
5.1 服務型機器人操作驗證 76
5.1.1支架組裝需求 78
5.1.2建立地圖設定 78
5.1.3 程式指令設定 80
5.1.3送餐驗證與結果 82
5.2使用者問卷與回饋 84
5.2.1受訪者背景分析 84
5.2.2滿意度評量 86
六、結論與建議 93
6.1結果與貢獻 93
6.2研究限制與未來建議 94
參考文獻 95

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