| dc.description.abstract | In this thesis, an intelligent wheeled robot is designed to achieve elevator taking ability. By the robot arm set on the top of the wheeled robot, the robot can press the buttons of up, down and floor numbers on the elevator. There is a micro camera set on the tip of the robot arm. By the techniques of image detection, the robot can know the position of the elevator, recognize the control panel and detect whether the button light is on or off.
The robot can measure the distance between the robot and the elevator by the IR sensor, and then use inverse kinematics to calculate the angle of each links of the robot arm to press the correct buttons successfully. Since the robot has three omni-wheels, the robot can move to any direction we need such as moving into or out of the elevator.
There has an human-machine interface on the robot, based on the interface, the user can give a command to the robot to show the which floor the robot should go, and after the robot arrived the floor, it can provide service and execute the mission continuously. Therefore, the robot can move anywhere in the building and go up and down the floors. With the abilities mentioned above, the robot can be applied to hypermarkets, airports, hospitals, school, etc., to serve people.
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