研究生: |
賴俊吉 Lai, Jiun-Ji |
---|---|
論文名稱: |
小型戶外自走車之研發 The Development of a Small Outdoor Automatic Mobile Vehicle |
指導教授: |
王榮泰
Wang, Rong-Tyai |
學位類別: |
碩士 Master |
系所名稱: |
工學院 - 工程科學系 Department of Engineering Science |
論文出版年: | 2005 |
畢業學年度: | 93 |
語文別: | 中文 |
論文頁數: | 43 |
中文關鍵詞: | PIC16F877 、圓柱辨識 、超音波感測器 |
外文關鍵詞: | PIC16F877, ultrasonic sensor, cylinder recognition |
相關次數: | 點閱:74 下載:9 |
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本論文的目的在於發展一台以PIC16F877為控制晶片的小型戶外自走車,並以適應性、功能性、擴充性和漸進性為其設計的目標。
人機控制介面是由BCB(Borland C++ Builder)所撰寫而成。藉由無線傳輸模組可以讓筆記型電腦與自走車做溝通。經由人機介面的控制,可以對自走車下達指令,也可接收由自走車所回傳的資料。
利用自走車上面的超音波感測器,可以由已知的圓柱直徑與其量測後所計算統計出來之二次迴歸曲線的焦距關係,建立出的焦距-直徑之線性模型,作為辨識圓柱之用;此外,在戶外的路標辨識方面,亦可明顯地辨識出簡單-不連續、簡單-連續、複雜-不連續和複雜-連續的物體,而這些辨識出來的路標,將來可以做為導航之用。
The goal of this thesis is to develop a small outdoor automatic mobile vehicle, using PIC16F877 as its control chip. The objective is to make the mobile vehicle more adaptable, more functional, more expandable and more improvable.
he Human-Machine interface system is achieved by BCB (Borland C++ Builder).The vehicle can be communicated with a notebook via wireless communication module. A user can send orders to control the vehicle and receive the data from the vehicle by the system.
The ultrasonic ranging device on the vehicle is used to recognize cylindrical objects by the model of the focal length-diameter relation. The model is established by known diameters of cylinders and their focal lengths calculated from the curve obtained by the second degree polynomial. Moreover, we can recognize the landmark classes of simple discontinuous, simple continuous, complex discontinuous and complex continuous types. And we hope we can use the recognized landmarks for navigation strategy in the future.
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