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研究生： 黃冠蓁
Huang, Guan-Chen
論文名稱： 用於倉儲環境之隨行載運車
Human-Following Cart for Warehouse Environment
指導教授： 侯廷偉
Hou, Ting-Wei
共同指導教授: 鄧維光
Teng, Wei-Guang
學位類別： 碩士
Master
系所名稱： 工學院 - 工程科學系碩士在職專班
Department of Engineering Science (on the job class)
論文出版年： 2021
畢業學年度： 109
語文別： 中文
論文頁數： 83
中文關鍵詞： 倉儲 、跟隨 、紅外線編碼 、對準
外文關鍵詞： warehouse, follow, infrared-coded, alignment
相關次數： 點閱：116  下載：8 
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    • 一般倉儲作業流程包含訂單處理、入庫、揀貨、出庫等作業。為提高揀貨流程作業效率，本論文設計並製作一輛應用於揀貨作業之隨行載運車(以下簡述為隨行車)，隨行車能夠跟隨揀貨人員身後，其載重能力為100公斤。隨行車使用微控制器作為主控制器，藉由感測器系統及工業馬達控制系統進行跟隨及避障的動作控制。
    跟隨裝置系統由紅外線編碼發射器與紅外線接收對準裝置構成，使用者須配戴一組紅外線發射器，此發射器及接收對準裝置應用了紅外線編碼技術，使隨行車能跟隨於發射器所發送出的編碼訊號，以區隔其他光源及環境干擾，達到跟隨特定使用者的目標。另外，為了使隨行車能夠對準發射器訊號從而能夠跟隨於使用者正後方，本論文設計一套紅外線接收對準裝置，隨行車能根據紅外線訊號接收情況，自動調整轉向對準使用者，再藉由跟隨控制器進行對準及前進跟隨的動作控制，夠透過跟隨裝置及距離感測裝置所回傳的資訊，調整轉向動作並依照與使用者間之距離而變換不同跟隨速度。為了增加跟隨接收範圍，隨行車兩側亦有裝置紅外線接收模組，當車前方失去使用者訊號，能夠藉由車側紅外線接收模組使隨行車自動轉向對準使用者。而在避障設計部分，隨行車則能夠藉由超音波感測裝置，在遭遇障礙物時立刻停止行進，且能持續判斷周遭環境條件，待障礙物排除後，繼續跟隨使用者。隨行車使用配對跟隨模式，在使用前使用者須將發射器與跟隨車進行配對，並結合各情境模式的程式控制，構成隨行車的控制架構。

    The general warehousing workflow includes order processing, warehousing, picking, and outgoing operations. In order to improve the efficiency of the picking process, this study designs and builds the human-following cart for picking operations. The cart can follow the picker and the load capacity is 100 kg. The key component of the cart is an embedded equipment which is composed of the microcontrollers, the sensor system and industrial motor control system to implement the following actions and obstacle avoidance.
    The human-following function module is composed of infrared-coded transmitters, infrared receivers, and the alignment device. The user needs to wear an encoded infrared transmitting device. The coded signal is used to separate environmental interference and to achieve the goal of following a specific user. As the purpose is to make the cart aim at the rear of the user, this thesis designs and implements a set of infrared receiver and alignment devices, so that the cart can automatically adjust the steering to aim at the user according to the infrared signal receiving situation, and then follow the user. By the design of the controller system, the cart can adjust the steering movement and change speed according to the distance between the user and the cart.

    摘要 I Extended Abstract II 目錄 XVII 圖目錄 XX 表目錄 XXV 緒論 1 第一章、緒論 1 1-1研究背景與動機 1 1-2研究目的及目標 1 1-3貢獻 2 1-4 論文架構 3 第二章、文獻探討 4 2-1跟隨移動載具研究 4 2-2 跟隨技術探究 11 2-3 避障技術探究 13 第三章、系統架構及機構設計 14 3-1系統設計及系統架構 14 3-2機構設計 15 3-2-1骨架設計 15 3-2-2底座設計 17 3-3控制系統介紹 20 3-3-1 Arduino Mega2560微控制器 20 3-3-2 Arduino Nano微控制器 22 3-3-3軟體系統 23 第四章、跟隨及避障設計 24 4-1前言 24 4-2配對跟隨設計 24 4-2-1紅外線感測模組 25 4-2-2紅外線協定介紹 27 4-3對準跟隨設計 30 4-3-1紅外線發射器 30 4-3-2紅外線對準裝置 32 4-4距離感測裝置 38 4-4-1超音波距離感測模組 38 4-4-2控制訊號轉換模組 39 4-4-3距離轉換電壓設計 42 4-5避障設計 44 4-6資料傳輸架構 46 4-7跟隨及避障裝置配置設計 47 第五章、馬達控制及電源系統 50 5-1前言 50 5-2馬達及減速機 50 5-3馬達控制器 51 5-4電源系統 53 5-4-1深循環電池 54 5-4-2升壓以及降壓模組 55 5-4-3無熔絲電路保護 55 5-4-4緊急斷電安全裝置 56 第六章、跟隨控制方法 57 6-1跟隨控制設計 57 6-1-1對準轉向控制器 57 6-1-2前進控制器 59 6-1-3跟隨修正控制器 61 6-2隨行載運車整體流程設計 63 第七章、實驗成果 64 7-1配對模式分解圖 64 7-2跟隨直進分解圖 66 7-3跟隨轉彎分解圖 69 7-4側邊轉向對準分解圖 71 7-5避障測試分解圖 72 7-6模擬倉庫走道行走情況分解圖 73 7-7載運跟隨分解圖 75 7-8成果分析及討論 76 第八章、結論與未來工作 78 8-1結論 78 8-2未來工作 78 參考文獻 80 附錄A隨行載運車規格 83

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