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題 名 | 農用自動行走車之研製=Development of an Autonomous Vehicle for Agricultural Applications |
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作 者 | 李芳繁; 曾如參; | 書刊名 | 農林學報 |
卷 期 | 49:4 2000.12[民89.12] |
頁 次 | 頁33-46 |
分類號 | 434.25 |
關鍵詞 | 自走車; 電子羅盤; 超音波感測器; 自動導航; Autonomous vehicle; Electronic compass; Ultrasonic sensor; Automatic guidance; |
語 文 | 中文(Chinese) |
中文摘要 | 本動行走車車體皮用鋁金製作,以減輕垂量。車子前端左、右側各有一個驅動輪, 分別由一個500W之直流伺服馬達所帶動,車子後端則裝置有兩個惰輪。電力由兩個12V, 56AH之蓄電池供應。電子羅盤和伺服馬達之編碼器用以導引自走車,而超音波感測器用來 偵測障礙物,以防止碰撞。 自走車組裝完成後,先進行超音波感測器校正,車速與行走距離校正及迴轉半徑校正, 然後進類定點導航試驗。導航試驗又分為無障礙物與有障礙物兩種。因為安裝之超音波感測 器數量不足,盲點區域較大,車子有時會撞到障礙物。定點導航試驗之最大誤差為77㎝,最 小誤差則為0.7㎝。 |
英文摘要 | This autonomous vehicle was fabricated with aluminum alloy to decrease the weight of the body. Two driving wheels were installed at both sides of the front end of the vehicle, while two rest wheels were located at the rear end. These two driving wheels were powered by a 500W, DC servo motor, respectively; and two 12V, 56AH batteries were used as the power source. The electronic compass and encoders of the servo motors were employed to guide the vehicle and the ultrasonic sensors were used to detect obstacles for collision prevention. After the vehicle had been assembled. The ultrasonic sensors, the velocity of the vehicle, the traveling distance, and the turning radius were calibrated first, then the guidance tests for given destinations were conducted. These guidance tests had two kinds, one with obstacles on the path, another one without obstacles. Since the ultrasonic sensors installed were not adequate, the blind area was too big, sometimes the vehicle would hit the obstacles. For the guidance tests, the maximum error was 77cm, while the minimum error was 0.7cm. |
本系統中英文摘要資訊取自各篇刊載內容。