設計與實作一輛具無線傳輸能力之多功能自走車

以作者查詢圖書館館藏

、以作者查詢臺灣博碩士

、以作者查詢全國書目

、勘誤回報

、線上人數：36

、訪客IP：3.15.14.245

姓名

李匯宗(Hui-Tsung Lee) 查詢紙本館藏

畢業系所

資訊工程學系在職專班

論文名稱

設計與實作一輛具無線傳輸能力之多功能自走車
(Design and Implementation of a Multifunctional Automatic Car with Wireless Communication Capability)

相關論文

★ 無線行動隨建即連網路上之廣播與繞徑問題	★ 熱門電影的高效能廣播演算法
★ 無線行動隨建即連網路上之媒體存取問題	★ 使用功率調整來增加多節點封包無線網路
★ 在無線行動隨建即用網路下Geocast 之設計與實做經驗	★ 一個適用於熱門隨選視訊服務之快速排程廣播策略
★ 應用數位浮水印技術於影像之智慧財產權保護與認證	★ 在寬頻分碼多重擷取技術上分配及再分配多重正交可變展頻係數碼
★ 無線行動隨建即連網路上之廣播排程協定	★ 在無線行動隨建即連網路下支援即時多媒體傳送的媒介存取協定
★ 以樹狀結構為基礎的Scatternet建構協定	★ 在無線感應器網路中具有省電機制並且採用對角線路徑的方向性擴散
★ 隨意型無線網路上一個具有能量保存的GRID繞徑協定	★ 在無線感應器網路中具有省電機制的傳輸協定
★ 隨意型無線網路上一個具有能量保存以及平衡的繞徑協定	★ 環形藍芽網路：一個藍芽通訊網路的新拓樸及其繞徑協定

檔案

[Endnote RIS 格式]

[Bibtex 格式]

[相關文章]

[文章引用]

[完整記錄]

[館藏目錄]

[檢視]

[下載]

本電子論文使用權限為同意立即開放。
已達開放權限電子全文僅授權使用者為學術研究之目的，進行個人非營利性質之檢索、閱讀、列印。
請遵守中華民國著作權法之相關規定，切勿任意重製、散佈、改作、轉貼、播送，以免觸法。

摘要(中)

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。

摘要(英)

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.

關鍵字(中)

★ 無線網路
★ 嵌入式系統
★ 遠端監控
★ 自走車
★ 無線感測器網路

關鍵字(英)

★ wireless sensor networks
★ WiFi
★ embedded systems
★ Automatic car

論文目次

第一章簡介 1
第二章系統架構與背景技術 3
2.1 車體架構 3
2.2 無線感測器網路 7
2.3 微電腦控制器及單板電腦 10
2.4 感測器元件 14
2.5 伺服機控制 18
2.6 視覺系統 20
2.7 供電系統 21
第三章控制器設計 23
3.1 軟體設計 23
3.2 無線感測器資料讀取 26
3.3 通訊設計 27
3.4 視訊串流設計 28
3.5 自動巡航及避障 30
3.6 使用者操作介面 31
第四章系統整合與測試 37
4.1 系統整合 37
4.2 測試架構說明 40
4.2 運轉測試 41
4.2.1實驗一 41
4.3.2實驗二 43
第五章結論 47
參考文獻 49

參考文獻

[1] I. F. Akyildiz, W. Su, Y. Sankarasubramaniam, and E. Cayirci, “A Survey on Sensor Networks,” IEEE Communications Magazine, Vol. 40, pp. 102-114, August 2002.
[2] J. Bruck, J. Gao and A. Jiang, “Localization and Routing in Sensor Networks by Local Angle Information,” in Proceedings of the ACM International Symposium on Mobile Ad Hoc Networking and Computing (MmobiHoc’05), pp. 181-192, Illinois, USA, May 2005.
[3] Q. Jiang and D. Manivannan, “Routing Protocols for Sensor Networks,” in Proceedings of the IEEE Consumer Communications and Networking Conference (CCNC ‘04), pp. 93-98, Las Vegas, USA, January 2004.
[4] A. Mainwaring, R. Szewczyk, D. Culler, and J. Anderson, “Wireless Sensor Networks for Habitat Monitoring,” in Proceedings of the ACM International Workshop on Wireless Sensor Networks and Applications (WSNA’02), pp. 88-97, Atlanta, USA, August 2002.
[5] Y. Ohta, M. Sugano, and M. Murata, “Autonomous Localization Method in Wireless Sensor Networks,” in Proceedings of the third IEEE International Workshop on Sensor Networks and Systems for Pervasive Computing (PerSeNs’05), pp. 379-384, Osaka, Japan, March 2005.
[6] K. Sohrabi, J. Gao, V. Ailawadhi and G. J. Pottie, “Protocols for Self-Organization of a Wireless Sensor Network,” IEEE Personal Communications, Vol. 7, pp. 16-26, October 2000.
[7] S. Tilak, N. B. Abu-Ghazaleh and W. Heinzelman, “A Taxonomy of Wireless Micro-Sensor Network Models,” ACM Mobile Computing and Communications Review, Vol. 6, pp. 28-36, April 2002.
[8] W. Ye, J. Heidemann, and D. Estrin, “An Energy-Efficient MAC Protocol for Wireless Sensor Networks,” in Proceedings of the 21th Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM ‘02), Vol. 3, pp. 1567-1576, California, USA, June 2002.
[9] H. Anna, “Wireless Sensor Network Designs,” John Wiley & Sons Press, USA, 2003.
[10] K. Holger, and W. Andreas, “Protocol and Architectures for Wireless Sensor Networks,” Wiley-Interscience Press, USA, 2005.
[11] H. Tim , “SWT : A Developer’s Notebook,” O’REILLY Press, USA, 2004.
[12] F. Zhao and L. Guibas, “Wireless Sensor Networks: An Information Processing Approach,” Morgan Kaufmann Press, USA, 2004.
[13] Parallax INC., Basic Stamp 2 Introduction, http://www.parallax.com/Default.aspx?tabid=295
[14] Play Robot INC., Servo Control Introduction,
http://www.playrobot.com/menu05_c1_stamp_howto_servo.htm
[15] Pololu Corporation , Motor Controller Module Introduction,
http://www.pololu.com/ products/polol
[16] VideoLan.org, Command Line Interfaces,
http://www.videolan.org/doc/vlc-user-guide/en/ch04.html
[17] 許素貞, “地下停車場資訊系統開發-應用無線感測網路技術,” 國立中央大學環境工程研究所碩士論文, 2005.
[18] 蘇信豪, “無人載具避障之導航與控制,” 國立臺灣大學工學院應用力學研究所碩士論文, 2007.
[19] 顏春煌, “JAVA網路程式設計, ” 旗標出版社, 台灣, 2004.
[20] 王國光,“機器人發展現況,”機械與工業雜誌, 第273期,2005.
[21] 郭常右, “Intel Mote平台,” Digi Time技術IT, 2006.

指導教授

許健平(Jang-Ping Sheu)

審核日期

2008-1-19

推文