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The defense date of the thesis is 2008-09-12
The current date is 2019-05-19
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URN etd-0912108-111300 Statistics This thesis had been viewed 1623 times. Download 14 times. Author Cheng-Chen Shih Author's Email Address No Public. Department Mechanical Engineering Year 2007 Semester 2 Degree Master Type of Document Master's Thesis Language zh-TW.Big5 Chinese Page Count 62 Title Apparatus for Continuous Automatic Spooling of AGV Power Supply System Keyword infrared ray sensor Microcontroller Microcontroller infrared ray sensor Abstract This thesis focuses on the mobile cleaning robot which could gather and loose the power line automatically. The robot uses Single-Chip Microcontroller PIC18F452 as the core of the matter. The body of the robot is made up of two stepping motors, six infrared ray sensor which detects obstacles and calculates the real distance(cm) between the sensor and obstacles. Besides, designing one power line rewinding controller which posesess the electric-wire tension sensor switch to detect the rewinding control opportunity of the power line of the robot；one power line collector controlled by a DC motor. The power of the robot offered by four 12v lead- storage batteries.
When utilizing the infrared ray for wall following walking, it has waited for the plug to be inserted(another classmate’s thesis); it has entered into sweeping pattern and cleaned in S-type after the plug inserted, then using the controller to control the length of the power line; when finished the cleaning task, it walked along the wall and packed up the power line in the meantime, and get back to the socket area. The experimental result proved that the robot could gather and loose the power line effectively during the cleaning process.
Advisor Committee Long-Jyi Yeh - advisor
Guang-Jer Lai - co-chair
Files Date of Defense 2008-07-25 Date of Submission 2008-09-12