在本篇論文，我們設計一台可遠端遙控的機器人自走車，此車上裝置可垂直、水平移動的攝影機平台，讓使用者可以利用電腦來監控遠端的景物，並命令自走車移動至適當的位置。車上也裝置超音波測距感測器、溫溼度感測器及電子羅盤，這些感測器可用於危險環境的量測，也可作為自走車自動巡航及避障的設計，為了擴展其應用範圍，本研究在自走車上結合無線感測器節點(Wireless sensor node)，可進行無線感測網路(Wireless sensor networks) 的相關應用。在自走車上的控制器設計可區分為High-level controller以及Low-level controller，High-level controller的設計是以Single board computer為核心控制器，採階層式設計，往上可透過無線網路與遠端使用者連絡，往下可透過RS-232介面與Low-level controller連接，旁側可使用USB來連結各式的裝置。Low-level controller的功能是控制實體層電子訊號的傳遞，在Low-level controller裡也是採用階層式的設計，以一個Microcontroller控制三個負責不同功能的Microcontrollers，而這些控制器再依照指令來控制更底層的電子元件。在自走車的操控上，除了可以透過無線網路來遠端遙控，為因應自走車在長距離行駛時可以自動巡航，以及遇到障礙物時會自動閃避，以避免車體損壞。我們在自走車車體前方、右方、左方，各裝置一個超音波感測器，當感測器偵測出障礙物小於最低設定距離時，會進行避開障礙物的動作。本研究於實作完成後，經過測試，確實可達到於遠端進行遙控、量測，在整合無線感測器節點後，可透過感測器節點取得感測資料並傳回Sink端。 In this thesis, we design and implement an automatic car with sensing and wireless communication capabilities. With the sensing devices, we can remote control the automatic car under the dangerous environments. The sensing devices include CCD camera, ultrasonic ranging sensor, humidity sensor, temperature sensor, and electronic compass. The automatic car cannot only control manually but also can navigate and avoid obstacles automatically. In our research, we equip the wireless sensor node on the automatic car to broaden the applications of wireless sensor networks. The control mechanism of the car consists of high-level controller and low-level controller. The single board computer is used as the high-level controller and Basic stamp is used as the low-level controller. Our design is hierarchy in different layers. In the upper layer, the controller can communicate with the wireless network; on the contrary, the RS-232 interface is controlled by the low-level controller. The USB port can be used to connect other devices. Low-level controller can master the electronic signal transmission in physical layer. We use a Basic stamp as a main microcontroller to control other three different microcontrollers and these three devices are used to control the electronic components in the bottom layer. The automatic car not only can be controlled through wireless network, but also can cruise navigation in long distance and auto-avoid obstacles for not damaging car body. There are three ultrasonic sensors are installed in front, right and left side of the car, when one of these sensors detects obstacles, it would auto-avoid obstacles immediately. Besides, the automatic car can receive the sensing data from sensor nodes and then forward to sink node through the wireless communication.
