智慧型購物車之歸位功能設計與實現 ; Design and realize for homing function of intelligent shopping cart

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Please use this identifier to cite or link to this item: https://ir.lib.ncu.edu.tw/handle/987654321/44623

Title:	智慧型購物車之歸位功能設計與實現;Design and realize for homing function of intelligent shopping cart
Authors:	朱宥銘;Yu-ming Chu
Contributors:	電機工程研究所
Keywords:	模糊控制;跟線;fuzzy control;follow line
Date:	2010-07-05
Issue Date:	2010-12-09 13:50:49 (UTC+8)
Publisher:	國立中央大學
Abstract:	本論文針對智慧型購物車的歸位功能，提出完整的控制設計。首先實現馬達控制部分，當Nios發展板或筆記型電腦下達「期望速度」命令後，經回授補償控制器、兩輪同步控制器與轉向修正控制器運算與處理，使馬達的「實際速度」能準確且迅速地達到「期望速度」。此智慧型購物車主要用途在實現自動歸位的功能，購物者購完物，並於賣場停車場卸完貨後，購物車能利用底盤的光感測器偵測停車場地上的軌道，使其能自動循著軌道行駛至回收站。當購物車接近回收站時，會啟動攝影機擷取影像，利用影像處理技術判斷與前輛購物車之相對方位，再進行接合動作，接合完畢則自動將購物車上的馬達電源關閉，完成整體智慧型購物車的歸位功能。本研究多次在大賣場的停車場實際做過實驗，驗證此智慧型購物車的歸位策略是可行的。This thesis presents the homing control design for the intelligent shopping cart which is fabricated by us in the lab. Based on the SoPC technology, the feedback-compensation controller, synchronous-moving controller, and steering controller are implemented on the motors of the cart, such that the actual velocity of the cart can accurately approach the expected velocity. Moreover, six light sensors are installed underneath the cart chassis, such that the intelligent shopping cart can detect the trajectory returning to the cart station. Once the shopping cart is close to the cart station, the camera starts images capture and recognizes the former cart’s position. By the image processing, the shopping cart moves forward to the former cart and links it together. Finally, the power of the shopping cart will shut down after completing the linking behavior. Some practical experiments are given to demonstrate that the homing control of the intelligent shopping cart can work well in a real shopping-mall park.
Appears in Collections:	[Graduate Institute of Electrical Engineering] Electronic Thesis & Dissertation

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