臺灣博碩士論文加值系統

隨著自動化生產需求增加，許多產業導入機械手臂取代人為操作，並隨著生產規模逐漸擴大，自動導引車的需求也隨之增加，因此生產現場所需各類型機械手臂與自動導引車之系統整合，甚至物料運送的協同作業也成為一重要的課題，因此本論文基於機器人作業系統(Robot Operation System, ROS)開發具備即時定位地圖建構(Simultaneous Localization and Mapping, SLAM)及導航避障功能之自動導引車(Automatic Guided Vehicle, AGV)作為工作站之自動配送車，使用微型電腦作為中控系統，將即時定位與地圖建構技術整合LiDAR數據、編碼器以及慣性量測單元，而透過座標轉換及自適應蒙特卡羅定位法(Adaptive Monte Carlo Localization, AMCL)，使自動配送車能夠進行車體定位及路徑規劃，並於自動配送車之兩側及上方加裝單/雙軸運動模組，達到運送物件之功能。此外，欲克服運輸任務調度上不易銜接之問題，本研究使用另一相同基礎架構之導引車做為自動補給車，將自動配送車結合自動補給車之功能，達到銜接配送及補料功能，最後使用自行開發之主控制系統，完成整合自動配送車、自動補給車及兩機械手臂之工作站，達到物件協作運送功能及場域整合之目的。

As the demand for automated production has increased, many industries introduce robotic arms to replace human operations, and as the production gradually expanded, the demand for Automated Guided Vehicle (AGV) is also increasing. Therefore, the integration system of various types of robotic arms and AGVs is required in the factory, and the coordination of material transportation has become an important topic. This research developed an AGV with Simultaneous Localization and Mapping (SLAM) and navigation obstacle avoidance functions based on the Robot Operation System (ROS) to as an automatic delivery vehicle for a workstation. A microcomputer is used as the main control system to integrate LiDAR data, encoders and Inertial Measurement Units (IMU) with SLAM. Through coordinate conversion and Adaptive Monte Carlo Localization (AMCL), the localization and the path of the automatic delivery vehicle can be arranged. Besides, with single/dual-axis motion modules installed on both sides and top of the automatic delivery vehicle, the function of transporting material can be achieved. In addition, to overcome the problem of difficult connection in material transportation scheduling, another AGV with the same basic architecture is used as the automatic supply vehicle in this research. The automatic delivery vehicle and the automatic supply vehicle are combined to cohesive deliver and supply the material. Finally, the self-developed main control system is used to integrate the automatic delivery vehicle, the automatic supply vehicle, and the workstations of the two robotic arms to achieve the purpose of coordinated material transportation and field integration.

摘要……………………………i
Abstract…………………ii
誌謝………………………………iii
目錄………………………………iv
表目錄……………………………vi
圖目錄……………………………vii
第一章 緒論………………………………………………………1
1.1研究背景…………………………………………………………1
1.2 文獻探討……………………………………………3
1.2.1 AGV移動控制……………………………………5
1.2.2 合作派送……………………………………………6
1.3 論文架構……………………………………………7
第二章 智慧化工廠協同作業系統…………8
2.1 自動導引車開發……………………………9
2.2 場域設備串聯控制………………………11
第三章 基礎室內自動導引車研製…………13
3.1 系統架構……………………………………………13
3.2 車體底盤與控制架構……………………14
3.2.1 車體運動模型……………………………………15
3.3 地圖建構與定位………………………………19
3.4 自動導航及避障………………………………21
3.4.1 自適應蒙特卡羅定位法………………22
3.4.2 代價地圖……………………………………………23
3.4.3 路徑規劃……………………………………………24
第四章 設備通訊與控制……………………………26
4.1.自動補給車裝載機械手臂控制…………27
4.2.單／雙軸運動模組…………………………………29
4.2.1.AI智能馬達…………………………………………30
4.2.2.智能馬達控制器…………………………………31
4.2.3.軟體介面………………………………………………34
4.3.工業機械手臂控制…………………………………37
第五章 實驗結果…………………………………………40
5.1.整體系統架構…………………………………………41
5.2.整體控制流程…………………………………………43
5.3.多車派工系統…………………………………………44
5.4.自動配送車硬體製作……………………………45
5.5.地圖建構與即時定位實驗……………………51
5.6.自動導航及避障實驗……………………………53
5.7.智慧工廠控制……………………………………………56
5.7.1.自動補料任務………………………………………56
5.7.2.第一工作站……………………………………………57
5.7.3.第二工作站……………………………………………58
5.7.4.Micro:bit資料收集…………………………59
5.9.整體動作流程……………………………………………60
第六章 結論與未來展望……………………………63
參考文獻………………………………………………………………65
Extended Abstract………………………………………69

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